ContinuousSystem< T > Class Template Reference

An abstract base class template for Systems that have continuous dynamics. More...

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

Inheritance diagram for ContinuousSystem< T >:

Collaboration diagram for ContinuousSystem< T >:

Public Member Functions
void	MapVelocityToConfigurationDerivatives (const Context< T > &context, const StateVector< T > &generalized_velocity, StateVector< T > *configuration_derivatives) const override
	Applies the identity mapping. More...
Public Member Functions inherited from ContinuousSystemInterface< T >
virtual std::unique_ptr< ContinuousState< T > >	AllocateTimeDerivatives () const =0
	Returns a ContinuousState of the same size as the continuous_state allocated in CreateDefaultContext. More...
virtual void	EvalTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const =0
	Produces the derivatives of the continuous state xc with respect to time. More...
virtual T	EvalConservativePower (const Context< T > &context) const
	Return the rate at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...
virtual T	EvalNonConservativePower (const Context< T > &context) const
	Return the rate at which mechanical energy is being generated (positive) or dissipated (negative) other than by conversion between potential and kinetic energy (in the given Context). More...
Public Member Functions inherited from SystemInterface< T >
virtual std::unique_ptr< Context< T > >	CreateDefaultContext () const =0
	Returns a default context, initialized with the correct numbers of concrete input ports and state variables for this System. More...
virtual std::unique_ptr< SystemOutput< T > >	AllocateOutput () const =0
	Returns a default output, initialized with the correct number of concrete output ports for this System. More...
virtual void	EvalOutput (const Context< T > &context, SystemOutput< T > *output) const =0
	Computes the output for the given context, possibly updating values in the cache. More...
virtual T	EvalPotentialEnergy (const Context< T > &context) const
	Return the potential energy currently stored in the configuration provided in the given Context. More...
virtual T	EvalKineticEnergy (const Context< T > &context) const
	Return the kinetic energy currently present in the motion provided in the given Context. More...
Public Member Functions inherited from AbstractSystemInterface
virtual	~AbstractSystemInterface ()
virtual std::string	get_name () const =0
	Returns the name of this System. More...

Protected Member Functions
	ContinuousSystem ()
Protected Member Functions inherited from ContinuousSystemInterface< T >
	ContinuousSystemInterface ()
Protected Member Functions inherited from SystemInterface< T >
	SystemInterface ()
Protected Member Functions inherited from AbstractSystemInterface
	AbstractSystemInterface ()

Detailed Description

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

An abstract base class template for Systems that have continuous dynamics.

Defines some reasonable default implementations.

Constructor & Destructor Documentation

ContinuousSystem ( )

inlineprotected

Member Function Documentation

void MapVelocityToConfigurationDerivatives ( const Context< T > &  context, const StateVector< T > &  generalized_velocity, StateVector< T > *  configuration_derivatives  ) const

inlineoverridevirtual

Applies the identity mapping.

Throws std::out_of_range if the generalized_velocity and configuration_derivatives are not the same size. Child classes should override this function if qdot != v.

Implements ContinuousSystemInterface< T >.

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

• drake/systems/framework/continuous_system.h