ContinuousState< T > Class Template Reference

The ContinuousState is a container for all the State variables that are unique to continuous Systems, i.e. More...

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

Public Member Functions
	ContinuousState (std::unique_ptr< StateVector< T >> state)
	Constructs a ContinuousState for a system that does not have second-order structure: All of the state is misc_continuous_state_. More...
	ContinuousState (std::unique_ptr< StateVector< T >> state, int num_q, int num_v, int num_z)
	Constructs a ContinuousState that exposes second-order structure. More...
const StateVector< T > &	get_state () const
	Returns the entire state vector. More...
StateVector< T > *	get_mutable_state ()
	Returns a mutable pointer to the entire state vector, never null. More...
const StateVector< T > &	get_generalized_position () const
	Returns the subset of the state vector that is generalized position q. More...
StateVector< T > *	get_mutable_generalized_position ()
	Returns a mutable pointer to the subset of the state vector that is generalized position q. More...
const StateVector< T > &	get_generalized_velocity () const
	Returns the subset of the state vector that is generalized velocity v. More...
StateVector< T > *	get_mutable_generalized_velocity ()
	Returns a mutable pointer to the subset of the state vector that is generalized velocity v. More...
const StateVector< T > &	get_misc_continuous_state () const
	Returns the subset of the state vector that is other continuous state z. More...
StateVector< T > *	get_mutable_misc_continuous_state ()
	Returns a mutable pointer to the subset of the state vector that is other continuous state z. More...

Detailed Description

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

The ContinuousState is a container for all the State variables that are unique to continuous Systems, i.e.

Systems that satisfy ContinuousSystemInterface and have defined dynamics at all times.

Template Parameters

T	A mathematical type compatible with Eigen's Scalar.

Constructor & Destructor Documentation

ContinuousState ( std::unique_ptr< StateVector< T >>  state )

inlineexplicit

Constructs a ContinuousState for a system that does not have second-order structure: All of the state is misc_continuous_state_.

ContinuousState ( std::unique_ptr< StateVector< T >>  state, int  num_q, int  num_v, int  num_z  )

inline

Constructs a ContinuousState that exposes second-order structure.

The contents of state must be laid out as follows:

/// (index 0)|--q--|--v--|--z--|(index state.size() - 1)
///
/// Where q is generalized position
///       v is generalized velocity
///       z is other continuous state
/// 

@param num_q The number of position variables.
@param num_v The number of velocity variables.
@param num_z The number of other variables.  

Member Function Documentation

const StateVector<T>& get_generalized_position ( ) const

inline

Returns the subset of the state vector that is generalized position q.

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const StateVector<T>& get_generalized_velocity ( ) const

inline

Returns the subset of the state vector that is generalized velocity v.

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const StateVector<T>& get_misc_continuous_state ( ) const

inline

Returns the subset of the state vector that is other continuous state z.

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StateVector<T>* get_mutable_generalized_position ( )

inline

Returns a mutable pointer to the subset of the state vector that is generalized position q.

StateVector<T>* get_mutable_generalized_velocity ( )

inline

Returns a mutable pointer to the subset of the state vector that is generalized velocity v.

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StateVector<T>* get_mutable_misc_continuous_state ( )

inline

Returns a mutable pointer to the subset of the state vector that is other continuous state z.

StateVector<T>* get_mutable_state ( )

inline

Returns a mutable pointer to the entire state vector, never null.

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const StateVector<T>& get_state ( ) const

inline

Returns the entire state vector.

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

• drake/systems/framework/state.h