NAryState< UnitVector > Class Template Reference

NAryState is a Drake::Vector (concept implementation) which is a container of zero or more component Drake::Vector instances. More...

#include <drake/systems/n_ary_state.h>

Collaboration diagram for NAryState< UnitVector >:

Public Types
using	UnitScalar = typename std::decay< decltype(toEigen(UnitVector())(0))>::type
typedef Eigen::Matrix< UnitScalar, RowsAtCompileTime, 1 >	EigenType

Public Member Functions
	NAryState ()
	NAryState (int count)
int	count () const
void	Append (const UnitVector &unit)
	Appends the. More...
UnitVector	get (int pos) const
void	set (int pos, const UnitVector &unit)
	Sets the value of the component UnitVector at position pos. More...
template<typename Derived >
	NAryState (const Eigen::MatrixBase< Derived > &initial)
template<typename Derived >
NAryState &	operator= (const Eigen::MatrixBase< Derived > &rhs)
int	size () const

Static Public Member Functions
static int	unit_size ()
	Calculates the size (Eigen row count) of UnitVector, which is presumed to be fixed for all instances of UnitVector. More...
static int	UnitCountFromRows (int rows)
	Determines how many. More...
static int	RowsFromUnitCount (int count)
	Determines how many Eigen matrix rows will be needed to represent. More...

Static Public Attributes
static const int	RowsAtCompileTime = Eigen::Dynamic

Friends
EigenType	toEigen (const NAryState< UnitVector > &vec)

Detailed Description

template<class UnitVector>
class drake::NAryState< UnitVector >

NAryState is a Drake::Vector (concept implementation) which is a container of zero or more component Drake::Vector instances.

All components must be of the same type, UnitVector, which naturally must model the Drake::Vector concept itself.

UnitVectors are assembled into NAryState at run-time as an ordered list with O(1) access. The Eigen::Matrix representaion of a complete NAryState is basically the concatenation of Eigen::Matrix's of the component UnitVectors.

Member Typedef Documentation

typedef Eigen::Matrix<UnitScalar, RowsAtCompileTime, 1> EigenType

using UnitScalar = typename std::decay<decltype(toEigen(UnitVector())(0))>::type

Constructor & Destructor Documentation

NAryState ( )

inline

NAryState ( int  count )

inlineexplicit

NAryState ( const Eigen::MatrixBase< Derived > &  initial )

inline

Member Function Documentation

void Append ( const UnitVector &  unit )

inline

Appends the.

Parameters

unit	to the end of the list of component
UnitVectors.

int count ( ) const

inline

Returns

the count of

Parameters

UnitVector

units contained within this NAryState object.

If UnitVector is a null vector (zero rows), then the count is indeterminate and the return value is always < 0.

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UnitVector get ( int  pos ) const

inline

Returns

a copy of the component UnitVector at position pos.

Exceptions

std::out_of_range

if UnitVector is a non-NullVector type and pos exceeds the range [0, count()].

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NAryState& operator= ( const Eigen::MatrixBase< Derived > &  rhs )

inline

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static int RowsFromUnitCount ( int  count )

inlinestatic

Determines how many Eigen matrix rows will be needed to represent.

Parameters

count	instances of
UnitVector.	To complement UnitCountFromRows(), if
count	is negative, the return value is zero. However,

Exceptions

std::domain_error

if count is negative and UnitVector is not a null vector.

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void set ( int  pos, const UnitVector &  unit  )

inline

Sets the value of the component UnitVector at position pos.

Exceptions

std::out_of_range

if UnitVector is a non-NullVector type and pos exceeds the range [0, count()].

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int size ( ) const

inline

static int unit_size ( )

inlinestatic

Calculates the size (Eigen row count) of UnitVector, which is presumed to be fixed for all instances of UnitVector.

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static int UnitCountFromRows ( int  rows )

inlinestatic

Determines how many.

Parameters

UnitVector	units will be decoded from an Eigen column matrix with
rows	rows.
rows	must be a multiple of the row count of
UnitVector.	As a special case, if UnitVector comprises zero rows (i.e., it is a NullVector), then the return value is always -1.

Exceptions

std::domain_error

if UnitVector is not a null vector and rows is not a multiple of UnitVector::size().

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Friends And Related Function Documentation

EigenType toEigen ( const NAryState< UnitVector > &  vec )

friend

Member Data Documentation

const int RowsAtCompileTime = Eigen::Dynamic

static

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

• drake/systems/n_ary_state.h