Drake
Drake C++ Documentation
Rod2dStateVector< T > Class Template Referencefinal

Detailed Description

template<typename T>
class drake::examples::rod2d::Rod2dStateVector< T >

Specializes BasicVector with specific getters and setters.

#include <drake/examples/rod2d/rod2d_state_vector.h>

Public Types

typedef Rod2dStateVectorIndices K
 An abbreviation for our row index constants. More...
 

Public Member Functions

 Rod2dStateVector ()
 Default constructor. More...
 
template<typename U = T>
std::enable_if_t< std::is_same_v< U, symbolic::Expression > > SetToNamedVariables ()
 Create a symbolic::Variable for each element with the known variable name. More...
 
Rod2dStateVector< T > * DoClone () const final
 Returns a new BasicVector containing a copy of the entire vector. More...
 
template<typename Archive >
void Serialize (Archive *a)
 Visit each field of this named vector, passing them (in order) to the given Archive. More...
 
drake::boolean< T > IsValid () const
 Returns whether the current values of this vector are well-formed. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible,

MoveAssignable

 Rod2dStateVector (const Rod2dStateVector &other)
 
 Rod2dStateVector (Rod2dStateVector &&other) noexcept
 
Rod2dStateVectoroperator= (const Rod2dStateVector &other)
 
Rod2dStateVectoroperator= (Rod2dStateVector &&other) noexcept
 
Getters and Setters
const T & x () const
 Horizontal location of the center-of-mass. More...
 
void set_x (const T &x)
 Setter that matches x(). More...
 
Rod2dStateVector< T > with_x (const T &x) const
 Fluent setter that matches x(). More...
 
const T & y () const
 Vertical location of the center-of-mass. More...
 
void set_y (const T &y)
 Setter that matches y(). More...
 
Rod2dStateVector< T > with_y (const T &y) const
 Fluent setter that matches y(). More...
 
const T & theta () const
 Angle of the rod (measured counter-clockwise). More...
 
void set_theta (const T &theta)
 Setter that matches theta(). More...
 
Rod2dStateVector< T > with_theta (const T &theta) const
 Fluent setter that matches theta(). More...
 
const T & xdot () const
 Velocity of the horizontal location of the center-of-mass. More...
 
void set_xdot (const T &xdot)
 Setter that matches xdot(). More...
 
Rod2dStateVector< T > with_xdot (const T &xdot) const
 Fluent setter that matches xdot(). More...
 
const T & ydot () const
 Velocity of the vertical location of the center-of-mass. More...
 
void set_ydot (const T &ydot)
 Setter that matches ydot(). More...
 
Rod2dStateVector< T > with_ydot (const T &ydot) const
 Fluent setter that matches ydot(). More...
 
const T & thetadot () const
 Angular velocity of the rod. More...
 
void set_thetadot (const T &thetadot)
 Setter that matches thetadot(). More...
 
Rod2dStateVector< T > with_thetadot (const T &thetadot) const
 Fluent setter that matches thetadot(). More...
 
- Public Member Functions inherited from BasicVector< T >
 BasicVector ()=default
 Constructs an empty BasicVector. More...
 
 BasicVector (int size)
 Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double. More...
 
 BasicVector (VectorX< T > vec)
 Constructs a BasicVector with the specified vec data. More...
 
 BasicVector (const std::initializer_list< T > &init)
 Constructs a BasicVector whose elements are the elements of init. More...
 
int size () const final
 Returns the number of elements in the vector. More...
 
void set_value (const Eigen::Ref< const VectorX< T >> &value)
 Sets the vector to the given value. More...
 
const VectorX< T > & value () const
 Returns a const reference to the contained VectorX<T>. More...
 
Eigen::VectorBlock< VectorX< T > > get_mutable_value ()
 Returns the entire vector as a mutable Eigen::VectorBlock, which allows mutation of the values, but does not allow resize() to be invoked on the returned object. More...
 
void SetFromVector (const Eigen::Ref< const VectorX< T >> &value) final
 Replaces the entire vector with the contents of value. More...
 
VectorX< T > CopyToVector () const final
 Copies this entire VectorBase into a contiguous Eigen Vector. More...
 
void ScaleAndAddToVector (const T &scale, EigenPtr< VectorX< T >> vec) const final
 Adds a scaled version of this vector to Eigen vector vec. More...
 
void SetZero () final
 Sets all elements of this vector to zero. More...
 
std::unique_ptr< BasicVector< T > > Clone () const
 Copies the entire vector to a new BasicVector, with the same concrete implementation type. More...
 
Eigen::VectorBlock< const VectorX< T > > get_value () const
 (Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock. More...
 
 BasicVector (const BasicVector &)=delete
 
BasicVectoroperator= (const BasicVector &)=delete
 
 BasicVector (BasicVector &&)=delete
 
BasicVectoroperator= (BasicVector &&)=delete
 
- Public Member Functions inherited from VectorBase< T >
virtual ~VectorBase ()
 
T & operator[] (int index)
 Returns the element at the given index in the vector. More...
 
const T & operator[] (int index) const
 Returns the element at the given index in the vector. More...
 
const T & GetAtIndex (int index) const
 Returns the element at the given index in the vector. More...
 
T & GetAtIndex (int index)
 Returns the element at the given index in the vector. More...
 
void SetAtIndex (int index, const T &value)
 Replaces the state at the given index with the value. More...
 
virtual void SetFrom (const VectorBase< T > &value)
 Replaces the entire vector with the contents of value. More...
 
virtual void CopyToPreSizedVector (EigenPtr< VectorX< T >> vec) const
 Copies this entire VectorBase into a pre-sized Eigen Vector. More...
 
VectorBasePlusEqScaled (const T &scale, const VectorBase< T > &rhs)
 Add in scaled vector rhs to this vector. More...
 
VectorBasePlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
 Add in multiple scaled vectors to this vector. More...
 
VectorBaseoperator+= (const VectorBase< T > &rhs)
 Add in vector rhs to this vector. More...
 
VectorBaseoperator-= (const VectorBase< T > &rhs)
 Subtract in vector rhs to this vector. More...
 
virtual void GetElementBounds (Eigen::VectorXd *lower, Eigen::VectorXd *upper) const
 Get the bounds for the elements. More...
 
 VectorBase (const VectorBase &)=delete
 
VectorBaseoperator= (const VectorBase &)=delete
 
 VectorBase (VectorBase &&)=delete
 
VectorBaseoperator= (VectorBase &&)=delete
 

Static Public Member Functions

static const std::vector< std::string > & GetCoordinateNames ()
 See Rod2dStateVectorIndices::GetCoordinateNames(). More...
 
- Static Public Member Functions inherited from BasicVector< T >
static std::unique_ptr< BasicVector< T > > Make (const std::initializer_list< T > &init)
 Constructs a BasicVector whose elements are the elements of init. More...
 
template<typename... Fargs>
static std::unique_ptr< BasicVector< T > > Make (Fargs &&... args)
 Constructs a BasicVector where each element is constructed using the placewise-corresponding member of args as the sole constructor argument. More...
 

Additional Inherited Members

- Protected Member Functions inherited from BasicVector< T >
const T & DoGetAtIndexUnchecked (int index) const final
 Implementations should ensure this operation is O(1) and allocates no memory. More...
 
T & DoGetAtIndexUnchecked (int index) final
 Implementations should ensure this operation is O(1) and allocates no memory. More...
 
const T & DoGetAtIndexChecked (int index) const final
 Implementations should ensure this operation is O(1) and allocates no memory. More...
 
T & DoGetAtIndexChecked (int index) final
 Implementations should ensure this operation is O(1) and allocates no memory. More...
 
const VectorX< T > & values () const
 Provides const access to the element storage. More...
 
VectorX< T > & values ()
 (Advanced) Provides mutable access to the element storage. More...
 
- Protected Member Functions inherited from VectorBase< T >
 VectorBase ()
 
void ThrowOutOfRange (int index) const
 
void ThrowMismatchedSize (int other_size) const
 
- Static Protected Member Functions inherited from BasicVector< T >
template<typename F , typename... Fargs>
static void MakeRecursive (BasicVector< T > *data, int index, F constructor_arg, Fargs &&... recursive_args)
 Sets data at index to an object of type T, which must have a single-argument constructor invoked via constructor_arg, and then recursively invokes itself on the next index with recursive args. More...
 
template<typename F , typename... Fargs>
static void MakeRecursive (BasicVector< T > *data, int index, F constructor_arg)
 Base case for the MakeRecursive template recursion. More...
 

Member Typedef Documentation

◆ K

An abbreviation for our row index constants.

Constructor & Destructor Documentation

◆ Rod2dStateVector() [1/3]

Default constructor.

Sets all rows to their default value:

  • x defaults to 0.0 m.
  • y defaults to 0.0 m.
  • theta defaults to 0.0 rad.
  • xdot defaults to 0.0 m/s.
  • ydot defaults to 0.0 m/s.
  • thetadot defaults to 0.0 rad/s.

◆ Rod2dStateVector() [2/3]

Rod2dStateVector ( const Rod2dStateVector< T > &  other)

◆ Rod2dStateVector() [3/3]

Rod2dStateVector ( Rod2dStateVector< T > &&  other)
noexcept

Member Function Documentation

◆ DoClone()

Rod2dStateVector<T>* DoClone ( ) const
finalvirtual

Returns a new BasicVector containing a copy of the entire vector.

Caller must take ownership, and may rely on the NVI wrapper to initialize the clone elementwise.

Subclasses of BasicVector must override DoClone to return their covariant type.

Reimplemented from BasicVector< T >.

◆ GetCoordinateNames()

static const std::vector<std::string>& GetCoordinateNames ( )
static

◆ IsValid()

drake::boolean<T> IsValid ( ) const

Returns whether the current values of this vector are well-formed.

◆ operator=() [1/2]

Rod2dStateVector& operator= ( const Rod2dStateVector< T > &  other)

◆ operator=() [2/2]

Rod2dStateVector& operator= ( Rod2dStateVector< T > &&  other)
noexcept

◆ Serialize()

void Serialize ( Archive *  a)

Visit each field of this named vector, passing them (in order) to the given Archive.

The archive can read and/or write to the vector values. One common use of Serialize is the //common/yaml tools.

◆ set_theta()

void set_theta ( const T &  theta)

Setter that matches theta().

◆ set_thetadot()

void set_thetadot ( const T &  thetadot)

Setter that matches thetadot().

◆ set_x()

void set_x ( const T &  x)

Setter that matches x().

◆ set_xdot()

void set_xdot ( const T &  xdot)

Setter that matches xdot().

◆ set_y()

void set_y ( const T &  y)

Setter that matches y().

◆ set_ydot()

void set_ydot ( const T &  ydot)

Setter that matches ydot().

◆ SetToNamedVariables()

std::enable_if_t<std::is_same_v<U, symbolic::Expression> > SetToNamedVariables ( )

Create a symbolic::Variable for each element with the known variable name.

This is only available for T == symbolic::Expression.

◆ theta()

const T& theta ( ) const

Angle of the rod (measured counter-clockwise).

Note
theta is expressed in units of rad.

◆ thetadot()

const T& thetadot ( ) const

Angular velocity of the rod.

Note
thetadot is expressed in units of rad/s.

◆ with_theta()

Rod2dStateVector<T> with_theta ( const T &  theta) const

Fluent setter that matches theta().

Returns a copy of this with theta set to a new value.

◆ with_thetadot()

Rod2dStateVector<T> with_thetadot ( const T &  thetadot) const

Fluent setter that matches thetadot().

Returns a copy of this with thetadot set to a new value.

◆ with_x()

Rod2dStateVector<T> with_x ( const T &  x) const

Fluent setter that matches x().

Returns a copy of this with x set to a new value.

◆ with_xdot()

Rod2dStateVector<T> with_xdot ( const T &  xdot) const

Fluent setter that matches xdot().

Returns a copy of this with xdot set to a new value.

◆ with_y()

Rod2dStateVector<T> with_y ( const T &  y) const

Fluent setter that matches y().

Returns a copy of this with y set to a new value.

◆ with_ydot()

Rod2dStateVector<T> with_ydot ( const T &  ydot) const

Fluent setter that matches ydot().

Returns a copy of this with ydot set to a new value.

◆ x()

const T& x ( ) const

Horizontal location of the center-of-mass.

Note
x is expressed in units of m.

◆ xdot()

const T& xdot ( ) const

Velocity of the horizontal location of the center-of-mass.

Note
xdot is expressed in units of m/s.

◆ y()

const T& y ( ) const

Vertical location of the center-of-mass.

Note
y is expressed in units of m.

◆ ydot()

const T& ydot ( ) const

Velocity of the vertical location of the center-of-mass.

Note
ydot is expressed in units of m/s.

The documentation for this class was generated from the following file: