Detailed Description

template<typename T>
class drake::systems::BasicVector< T >

BasicVector is a semantics-free wrapper around an Eigen vector that satisfies VectorBase.

Once constructed, its size is fixed.

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/systems/framework/basic_vector.h>

Public Member Functions
	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...

Does not allow copy, move, or assignment
	BasicVector (const BasicVector &)=delete

BasicVector &	operator= (const BasicVector &)=delete

	BasicVector (BasicVector &&)=delete

BasicVector &	operator= (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...

VectorBase &	PlusEqScaled (const T &scale, const VectorBase< T > &rhs)
	Add in scaled vector `rhs` to this vector. More...

VectorBase &	PlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale)
	Add in multiple scaled vectors to this vector. More...

VectorBase &	operator+= (const VectorBase< T > &rhs)
	Add in vector `rhs` to this vector. More...

VectorBase &	operator-= (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

VectorBase &	operator= (const VectorBase &)=delete

	VectorBase (VectorBase &&)=delete

VectorBase &	operator= (VectorBase &&)=delete

Static Public Member Functions
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...

Protected Member Functions
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...

virtual BasicVector< T > *	DoClone () const
	Returns a new BasicVector containing a copy of the entire vector. 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
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...

Constructor & Destructor Documentation

◆ BasicVector() [1/6]

BasicVector ( const BasicVector< T > & )

delete

◆ BasicVector() [2/6]

BasicVector ( BasicVector< T > && )

delete

◆ BasicVector() [3/6]

BasicVector ( )

default

Constructs an empty BasicVector.

◆ BasicVector() [4/6]

BasicVector ( int size )

explicit

Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double.

◆ BasicVector() [5/6]

BasicVector ( VectorX< T > vec )

explicit

Constructs a BasicVector with the specified vec data.

◆ BasicVector() [6/6]

BasicVector ( const std::initializer_list< T > & init )

Constructs a BasicVector whose elements are the elements of init.

Member Function Documentation

◆ Clone()

std::unique_ptr<BasicVector<T> > Clone ( ) const

Copies the entire vector to a new BasicVector, with the same concrete implementation type.

Uses the Non-Virtual Interface idiom because smart pointers do not have type covariance.

◆ CopyToVector()

VectorX<T> CopyToVector ( ) const

finalvirtual

Copies this entire VectorBase into a contiguous Eigen Vector.

Implementations should ensure this operation is O(N) in the size of the value and allocates only the O(N) memory that it returns.

Reimplemented from VectorBase< T >.

◆ DoClone()

virtual BasicVector<T>* DoClone ( ) const

protectedvirtual

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 in AcrobotParams< T >, CompassGaitParams< T >, Rod2dStateVector< T >, SchunkWsgTrajectoryGeneratorStateVector< T >, CompassGaitContinuousState< T >, RimlessWheelParams< T >, BeamModelParams< T >, ClothSpringModelParams< T >, CartPoleParams< T >, AcrobotState< T >, SpongControllerParams< T >, PendulumParams< T >, RimlessWheelContinuousState< T >, BouncingBallVector< T >, PendulumState< T >, AcrobotInput< T >, and PendulumInput< T >.

◆ DoGetAtIndexChecked() [1/2]

const T& DoGetAtIndexChecked ( int index ) const

finalprotectedvirtual

Implementations should ensure this operation is O(1) and allocates no memory.

The index has already been checked for negative, but not size. Implementations must throw an exception when index >= size().

Implements VectorBase< T >.

◆ DoGetAtIndexChecked() [2/2]

T& DoGetAtIndexChecked ( int index )

finalprotectedvirtual

Implementations should ensure this operation is O(1) and allocates no memory.

The index has already been checked for negative, but not size. Implementations must throw an exception when index >= size().

Implements VectorBase< T >.

◆ DoGetAtIndexUnchecked() [1/2]

const T& DoGetAtIndexUnchecked ( int index ) const

finalprotectedvirtual

Implementations should ensure this operation is O(1) and allocates no memory.

The index need not be validated when in release mode.

Implements VectorBase< T >.

◆ DoGetAtIndexUnchecked() [2/2]

T& DoGetAtIndexUnchecked ( int index )

finalprotectedvirtual

Implementations should ensure this operation is O(1) and allocates no memory.

The index need not be validated when in release mode.

Implements VectorBase< T >.

◆ get_mutable_value()

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.

◆ get_value()

Eigen::VectorBlock<const VectorX<T> > get_value ( ) const

(Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock.

Prefer value() which returns direct access to the underlying VectorX rather than wrapping it in a VectorBlock.

◆ Make() [1/2]

static std::unique_ptr<BasicVector<T> > Make ( const std::initializer_list< T > & init )

static

Constructs a BasicVector whose elements are the elements of init.

◆ Make() [2/2]

static std::unique_ptr<BasicVector<T> > Make ( Fargs &&... args )

static

Constructs a BasicVector where each element is constructed using the placewise-corresponding member of args as the sole constructor argument.

For instance: BasicVector<symbolic::Expression>::Make("x", "y", "z");

◆ MakeRecursive() [1/2]

static void MakeRecursive	(	BasicVector< T > *	data,
		int	index,
		F	constructor_arg,
		Fargs &&...	recursive_args
	)

staticprotected

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.

Helper for BasicVector<T>::Make.

◆ MakeRecursive() [2/2]

static void MakeRecursive	(	BasicVector< T > *	data,
		int	index,
		F	constructor_arg
	)

staticprotected

Base case for the MakeRecursive template recursion.

◆ operator=() [1/2]

BasicVector& operator= ( BasicVector< T > && )

delete

◆ operator=() [2/2]

BasicVector& operator= ( const BasicVector< T > & )

delete

◆ ScaleAndAddToVector()

void ScaleAndAddToVector	(	const T &	scale,
		EigenPtr< VectorX< T >>	vec
	)		const

finalvirtual

Adds a scaled version of this vector to Eigen vector vec.

Exceptions

std::exception if vec is the wrong size.

Implementations should ensure this operation remains O(N) in the size of the value and allocates no memory.

Reimplemented from VectorBase< T >.

◆ set_value()

void set_value ( const Eigen::Ref< const VectorX< T >> & value )

Sets the vector to the given value.

After a.set_value(b.get_value()), a must be identical to b.

Exceptions

std::exception if the new value has different dimensions.

◆ SetFromVector()

void SetFromVector ( const Eigen::Ref< const VectorX< T >> & value )

finalvirtual

Replaces the entire vector with the contents of value.

Exceptions

std::exception if value is not a column vector with size() rows.

Implementations should ensure this operation is O(N) in the size of the value and allocates no memory.

Reimplemented from VectorBase< T >.

◆ SetZero()

void SetZero ( )

finalvirtual

Sets all elements of this vector to zero.

Reimplemented from VectorBase< T >.

◆ size()

int size ( ) const

finalvirtual

Returns the number of elements in the vector.

Implementations should ensure this operation is O(1) and allocates no memory.

Implements VectorBase< T >.

◆ value()

const VectorX<T>& value ( ) const

Returns a const reference to the contained VectorX<T>.

This is the preferred method for examining a BasicVector's value.

◆ values() [1/2]

const VectorX<T>& values ( ) const

protected

Provides const access to the element storage.

Prefer the synonymous public value() method – this protected method remains for backwards compatibility in derived classes.

◆ values() [2/2]

VectorX<T>& values ( )

protected

(Advanced) Provides mutable access to the element storage.

Be careful not to resize the storage unless you really know what you're doing.

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

drake/systems/framework/basic_vector.h

Detailed Description

template<typename T> class drake::systems::BasicVector< T >

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Constructor & Destructor Documentation

◆ BasicVector() [1/6]

◆ BasicVector() [2/6]

◆ BasicVector() [3/6]

◆ BasicVector() [4/6]

◆ BasicVector() [5/6]

◆ BasicVector() [6/6]

Member Function Documentation

◆ Clone()

◆ CopyToVector()

◆ DoClone()

◆ DoGetAtIndexChecked() [1/2]

◆ DoGetAtIndexChecked() [2/2]

◆ DoGetAtIndexUnchecked() [1/2]

◆ DoGetAtIndexUnchecked() [2/2]

◆ get_mutable_value()

◆ get_value()

◆ Make() [1/2]

◆ Make() [2/2]

◆ MakeRecursive() [1/2]

◆ MakeRecursive() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ScaleAndAddToVector()

◆ set_value()

◆ SetFromVector()

◆ SetZero()

◆ size()

◆ value()

◆ values() [1/2]

◆ values() [2/2]

template<typename T>
class drake::systems::BasicVector< T >