NArySystem< UnitSystem > Class Template Reference

A System which aggregates multiple instances of a UnitSystem system. More...

#include <drake/systems/n_ary_system.h>

Public Types
template<typename ScalarType >
using	StateVector = NAryState< typename UnitSystem::template StateVector< ScalarType > >
template<typename ScalarType >
using	InputVector = NAryState< typename UnitSystem::template InputVector< ScalarType > >
template<typename ScalarType >
using	OutputVector = NAryState< typename UnitSystem::template OutputVector< ScalarType > >

Public Member Functions
	NArySystem ()
void	AddSystem (std::shared_ptr< UnitSystem > system)
	Adds. More...
template<typename ScalarType >
StateVector< ScalarType >	dynamics (const ScalarType &time, const StateVector< ScalarType > &state, const InputVector< ScalarType > &input) const
template<typename ScalarType >
OutputVector< ScalarType >	output (const ScalarType &time, const StateVector< ScalarType > &state, const InputVector< ScalarType > &input) const
bool	isTimeVarying () const
bool	isDirectFeedthrough () const
std::size_t	getNumStates () const
std::size_t	getNumInputs () const
std::size_t	getNumOutputs () const

Detailed Description

template<class UnitSystem>
class drake::NArySystem< UnitSystem >

A System which aggregates multiple instances of a UnitSystem system.

The aggregate state, input, and output vectors are composed of the concatenation of the respective vectors of the component systems.

Member Typedef Documentation

using InputVector = NAryState< typename UnitSystem::template InputVector<ScalarType> >

using OutputVector = NAryState< typename UnitSystem::template OutputVector<ScalarType> >

using StateVector = NAryState< typename UnitSystem::template StateVector<ScalarType> >

Constructor & Destructor Documentation

NArySystem ( )

inline

Member Function Documentation

void AddSystem ( std::shared_ptr< UnitSystem >  system )

inline

Adds.

Parameters

system

to the end of the NArySystem's list of UnitSystems.

StateVector<ScalarType> dynamics ( const ScalarType &  time, const StateVector< ScalarType > &  state, const InputVector< ScalarType > &  input  ) const

inline

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std::size_t getNumInputs ( ) const

inline

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std::size_t getNumOutputs ( ) const

inline

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std::size_t getNumStates ( ) const

inline

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bool isDirectFeedthrough ( ) const

inline

bool isTimeVarying ( ) const

inline

OutputVector<ScalarType> output ( const ScalarType &  time, const StateVector< ScalarType > &  state, const InputVector< ScalarType > &  input  ) const

inline

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

• drake/systems/n_ary_system.h