Multiply the single vector input by a scalar and present the result as the single output port. More...

#include <drake/systems/framework/primitives/gain3.h>

Inheritance diagram for Gain3< T >:

Collaboration diagram for Gain3< T >:

Public Member Functions
DRAKESYSTEMFRAMEWORK_EXPORT	Gain3 (const std::string &name, const T &gain, int length)
	Create Gain System with one input and one output port of the given length. More...

T	get_gain () const
	Report the gain that was supplied in the constructor. More...

void	set_gain (const T &gain)
	Change the gain from its current value. More...

Public Member Functions inherited from System3< T >
std::unique_ptr< Context3< T > >	CreateDefaultContext () const
	Get a default `Context<T>` compatible with this `System<T>`. More...

const VectorInterface< T > &	EvalVectorOutputPort (const Context3< T > &context, int port_num) const
	Convenience method for obtaining the up-to-date value for an output port which is known to be vector valued. More...

const T &	EvalPotentialEnergy (const Context3< T > &context) const
	Returns the potential energy currently stored in the configuration provided in the given Context3. More...

const T &	EvalKineticEnergy (const Context3< T > &context) const
	Return the kinetic energy currently present in the motion provided in the given Context3. More...

void	UpdateDiscreteVariables (Context3< T > &context, int sample_key) const
	TODO: update discrete variables. More...

std::pair< double, int >	GetNextSampleTime (const Context3< T > &context) const
	Returns the next sample time required by any subsystem of this System. More...

Eigen::VectorBlock< const VectorX< T > >	EvalTimeDerivatives (const Context3< T > &context, DerivativeBlock block) const
	Returns time derivatives of one or all of the continuous state variable groups. More...

const T &	EvalConservativePower (const Context3< T > &context) const
	For continuous, physical systems only, returns the rate at which energy is being converted from potential energy to kinetic energy by this system in the given Context3. More...

const T &	EvalNonConservativePower (const Context3< T > &context) const
	For continuous, physical systems only, returns the rate at which energy is being added to (positive) or dissipated from (negative) this sytem other than* by conversion between potential and kinetic energy (in the given Context3). More...

void	MapVelocityToConfigurationDerivatives (const Context3< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, Eigen::Ref< VectorX< T >> *configuration_derivatives) const
	Transforms a given generalized velocity v into qdot, the time derivative of the generalized configuration q. More...

void	MapAccelerationToConfigurationSecondDerivatives (const Context3< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_acceleration, Eigen::Ref< VectorX< T >> *configuration_second_derivatives) const
	Transforms a given generalized acceleration vdot into qdotdot, the second time derivative of the generalized configuration q. More...

Public Member Functions inherited from AbstractSystem3
virtual	~AbstractSystem3 ()

std::string	get_name () const
	Returns the name of this system. More...

DRAKESYSTEMFRAMEWORK_EXPORT std::unique_ptr< AbstractContext3 >	CreateDefaultContext () const
	Returns a default context, initialized with run time mutable memory for the correct number and type of InputPort3, OutputPort3, and state variable objects, as well as time, parameters, and basic computations. More...

DRAKESYSTEMFRAMEWORK_EXPORT const AbstractValue &	EvalOutputPort (const AbstractContext3 &context, int port_num) const
	Obtain an up-to-date value for one of this system's output ports. More...

const InputPortFinder &	get_input_port_finder (int port_num) const

const OutputPortFinder &	get_output_port_finder (int port_num) const

CacheEntry::Calculator	get_output_port_calculator (int port_num) const
	Given an output port number, return a function that knows how to calculate the value of that port when given a system and context. More...

void	CalcOutputPort (const AbstractContext3 &context, int port_num, AbstractValue *result) const
	Unconditionally calculate what would be the output port value into an already-allocated appropriate result object. More...

int	AddInputPort (std::unique_ptr< InputPort3 > port)
	Add an input port that is to be owned by this system. More...

int	AddOutputPort (std::unique_ptr< OutputPort3 > port)
	Add an output port that is to be owned by this System. More...

int	get_num_input_ports () const
	Returns the current number of input ports in this system. More...

const InputPort3 &	get_input_port (int port_num) const
	Returns a const reference to the InputPort3 with the given port number. More...

InputPort3 *	get_mutable_input_port (int port_num)
	Returns a mutable pointer to the InputPort3 with the given port number. More...

int	get_num_output_ports () const
	Returns the current number of output ports in this system. More...

const OutputPort3 &	get_output_port (int port_num) const
	Returns a const reference to the OutputPort3 with the given port number. More...

OutputPort3 *	get_mutable_output_port (int port_num)
	Returns a mutable pointer to the OutputPort3 with the given port number. More...

template<class ConcreteSystem >
ConcreteSystem *	AddSubsystem (std::unique_ptr< ConcreteSystem > subsystem)
	Takes ownership of the given system and returns an unowned, raw pointer to the concrete type for convenient access. More...

int	InheritInputPort (AbstractSystem3 *child_subsystem, int input_port_num)
	The given subsystem's InputPort3 becomes the next InputPort3 of this system diagram. More...

int	InheritOutputPort (AbstractSystem3 *child_subsystem, int output_port_num)
	The given subsystem's OutputPort3 becomes the next OutputPort3 of this system diagram. More...

void	Connect (AbstractSystem3 source_subsystem, int output_port_num, AbstractSystem3 sink_subsystem, int input_port_num)
	Connect the given output port of subsystem 1 into the given input port of subsystem 2. More...

int	get_num_subsystems () const
	Returns the current number of subsystems contained in this system diagram. More...

const AbstractSystem3 &	get_subsystem (int index) const
	Returns a const reference to one of the contained subsystems, using the index reflecting the order in which it was added. More...

AbstractSystem3 *	get_mutable_subsystem (int index)
	Returns a mutable pointer to one of the contained subsystems, using the index reflecting the order in which it was added. More...

const AbstractSystem3 *	get_parent_system () const
	Returns a const pointer to the parent system that owns this one, or `nullptr` if this is a root system. More...

AbstractSystem3 *	get_mutable_parent_system ()
	Returns a mutable pointer to the parent system that owns this one, or `nullptr` if this is a root system. More...

int	get_subsystem_num () const
	If this system is a subsystem of a parent system, return the subsystem number by which that parent knows us. More...

std::string	GetSubsystemPathName () const
	Determine the full path name of this subsystem in a form like `/rootname/parentname/myname`. More...

const AbstractContext3 &	find_my_subcontext (const AbstractContext3 &some_subcontext) const
	Get const access to this subsystem's subcontext given const access to any other subsystem's subcontext in the same context diagram. More...

AbstractContext3 *	find_my_mutable_subcontext (AbstractContext3 *some_subcontext) const
	Get mutable access to this subsystem's subcontext given mutable access to any other subsystem's subcontext in the same context diagram. More...

const AbstractSystem3 &	get_root_system () const
	Find the root system of the tree of which this subsystem is a member. More...

AbstractSystem3 *	get_mutable_root_system ()
	Get a mutable pointer to the root system of the tree of which this subsystem is a member. More...

Additional Inherited Members
Public Types inherited from System3< T >
enum	DerivativeBlock { kQdot = 0, kVdot = 1, kZdot = 2, kQdotDot = 3 }

Protected Member Functions inherited from System3< T >
	System3 (const std::string &name)
	Creates a System3 with no ports. More...

const VectorInterface< T > &	EvalVectorInputPort (const Context3< T > &context, int port_num) const
	Convenience method for obtaining the up-to-date value for an input port which is known to be vector valued. More...

virtual const T &	DoEvalPotentialEnergy (const Context3< T > &context) const
	If your system is capable of storing energy, implement this method to return the potential energy currently stored in the configuration provided in the given Context3. More...

virtual const T &	DoEvalKineticEnergy (const Context3< T > &context) const
	If your system models energy of motion, implement this method to return the kinetic energy currently present in the motion provided in the given Context3. More...

void	DoMapVelocityToConfigurationDerivatives (const Context3< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, Eigen::Ref< VectorX< T >> *configuration_derivatives) const
	If your system has configuration and velocity variables, and the mapping from velocity v to configuration derivatives q is not identity, then you must implement this method. More...

void	DoMapAccelerationToConfigurationSecondDerivatives (const Context3< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_acceleration, Eigen::Ref< VectorX< T >> *configuration_second_derivatives) const
	See above for when you have to implement this method. More...

virtual const T &	DoEvalConservativePower (const Context3< 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 Context3. More...

virtual const T &	DoEvalNonConservativePower (const Context3< 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 Context3). More...

Protected Member Functions inherited from AbstractSystem3
	AbstractSystem3 (const std::string &name)

DRAKESYSTEMFRAMEWORK_EXPORT const AbstractValue &	EvalInputPort (const AbstractContext3 &context, int port_num) const
	Obtain an up-to-date value for one of this system's input ports. More...

virtual void	DoAcquireContextResources (AbstractContext3 *context) const
	Acquire any private Context resources your concrete System needs, and assign them default values. More...

Detailed Description

template<typename T>
class drake::systems::Gain3< T >

Multiply the single vector input by a scalar and present the result as the single output port.

Template Parameters

T	The type of numerical values processed here. Must be a valid Eigen scalar.

Constructor & Destructor Documentation

Gain3	(	const std::string &	name,
		const T &	gain,
		int	length
	)

Create Gain System with one input and one output port of the given length.

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Member Function Documentation

T get_gain ( ) const

inline

Report the gain that was supplied in the constructor.

void set_gain ( const T & gain )

inline

Change the gain from its current value.

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

drake/systems/framework/primitives/gain3.h
drake/systems/framework/primitives/gain3.cc

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename T> class drake::systems::Gain3< T >

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class drake::systems::Gain3< T >