The context is a container for all data necessary to uniquely determine the results of computations performed by a System. More...

#include <drake/systems/framework/context3.h>

Inheritance diagram for Context3< T >:

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Collaboration diagram for Context3< T >:

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Public Member Functions
	Context3 ()

	~Context3 () override

const T &	get_time () const
	Returns the current time in seconds. More...

void	set_time (const T &time_sec)
	Set the current time in seconds. More...

std::unique_ptr< Context3< T > >	Clone () const
	Returns writable access to the State. More...

	Context3 (const Context3 &source)
	Copy constructor makes a deep copy of the `source` Context3, and also copies the current values of time and any connected input and parameter ports into standalone internal values so that the entire computation context is preserved. More...

Public Member Functions inherited from AbstractContext3
virtual	~AbstractContext3 ()

std::unique_ptr< AbstractContext3 >	Clone () const
	Returns a deep copy of this Context3. More...

void	SetNumInputPorts (int num_ports)
	Allocate input port entries corresponding to a System3's InputPort3 objects. More...

void	SetNumOutputPorts (int num_ports)
	Allocate output port entries corresponding to a System3's OutputPort3 objects. More...

DRAKESYSTEMFRAMEWORK_EXPORT void	SetInputPort (const AbstractSystem3 &system, int port_num)
	Set the input entry for this port number appropriately, given the corresponding InputPort3 in `system`. More...

DRAKESYSTEMFRAMEWORK_EXPORT void	SetOutputPort (const AbstractSystem3 &system, int port_num)
	Set the output entry for this port number appropriately, given the corresponding OutputPort3 in `system`. More...

int	get_num_input_ports () const

int	get_num_output_ports () const

int	get_num_cache_entries () const

const CacheEntry *	get_input_entry (int port_num) const
	Return a const pointer to the cache entry that is providing the value for the given input port, if this port is connected. More...

CacheEntry *	get_mutable_input_entry (int port_num) const
	Return a mutable pointer to the cache entry that is providing the value for the given input port, if this port is connected. More...

const CacheEntry &	get_output_entry (int port_num) const

CacheEntry *	get_mutable_output_entry (int port_num) const

int	AddSubcontext (std::unique_ptr< AbstractContext3 > subcontext)
	Add a subcontext as a child of this context. More...

int	get_num_subcontexts () const
	Returns the current number of subcontexts contained in this context. More...

const AbstractContext3 &	get_subcontext (int index) const
	Returns a const reference to one of the contained subcontexts, using the index reflecting the order in which it was added. More...

AbstractContext3 *	get_mutable_subcontext (int index)
	Returns a mutable pointer to one of the contained subcontexts, using the index reflecting the order in which it was added. More...

const AbstractContext3 *	get_parent_context () const
	Returns a const pointer to the parent context that owns this one, or `nullptr` if this is a root context. More...

AbstractContext3 *	get_mutable_parent_context ()
	Returns a mutable pointer to the parent context that owns this one, or `nullptr` if this is a root context. More...

int	get_subcontext_num () const
	If this context is a subcontext of a parent context, return the subcontext number by which that parent knows us. More...

const AbstractSystem3 &	find_my_subsystem (const AbstractSystem3 &some_subsystem) const
	Get const access to this subcontext's subsystem given const access to any other subcontext's subsystem in the same system diagram. More...

AbstractSystem3 *	find_my_mutable_subsystem (AbstractSystem3 *some_subsystem) const
	Get mutable access to this subcontext's subsystem given mutable access to any other subcontext's subsystem in the same system diagram. More...

const AbstractContext3 &	get_root_context () const
	Find the root context of the tree of which this subcontext is a member. More...

AbstractContext3 *	get_mutable_root_context ()
	Get a mutable pointer to the root context of the tree of which this subcontext is a member. More...

Protected Member Functions
Context3< T > *	DoClone () const override
	The Context implementation for Diagrams must override this method, since the state of a Diagram will not be a LeafStateVector. More...

Protected Member Functions inherited from AbstractContext3
	AbstractContext3 ()=default
	Create an empty AbstractContext3. More...

	AbstractContext3 (const AbstractContext3 &source)
	Copy the base class data members and preserve the input and parameter port values. More...

Detailed Description

template<typename T>
class drake::systems::Context3< T >

The context is a container for all data necessary to uniquely determine the results of computations performed by a System.

Specifically, a Context3 contains

the current value of time
pointers to values for a set of InputPorts (and ParameterPorts)
values for the state variables
cache entries for computed OutputPort values
cache entries for time derivatives of continuous states
a cache entry for update values of discrete states

A Context3 is compatible with a particular System3, but is otherwise independent of any actual System object. That is, if you had two identical System3 objects you could use the same Context3 object for both; there are no pointers from Context3 to non-static System3 data or methods.

Template Parameters

T	The mathematical type of the context, which must be a valid Eigen scalar.

Constructor & Destructor Documentation

Context3 ( )

inline

~Context3 ( )

inlineoverride

Context3 ( const Context3< T > & source )

inline

Copy constructor makes a deep copy of the source Context3, and also copies the current values of time and any connected input and parameter ports into standalone internal values so that the entire computation context is preserved.

Member Function Documentation

std::unique_ptr<Context3<T> > Clone ( ) const

inline

Returns writable access to the State.

No cache invalidation occurs until mutable access is requested for particular blocks of state variables. Returns a deep copy of this Context3. The clone's input ports will hold deep copies of the data that appears on this context's input ports at the time the clone is created. This is a non-virtual "covariant" replacement for the base class Clone() method with a more derived pointer type.

Context3<T>* DoClone ( ) const

inlineoverrideprotectedvirtual

The Context implementation for Diagrams must override this method, since the state of a Diagram will not be a LeafStateVector.

The caller owns the returned memory.

Implements AbstractContext3.

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const T& get_time ( ) const

inline

Returns the current time in seconds.

void set_time ( const T & time_sec )

inline

Set the current time in seconds.

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

drake/systems/framework/context3.h

Public Member Functions

Protected Member Functions

Detailed Description

template<typename T> class drake::systems::Context3< T >

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class drake::systems::Context3< T >