InputPort< T > Class Template Reference

The InputPort describes a single input to a System, from another System or from an external driver. More...

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

Inheritance diagram for InputPort< T >:

Collaboration diagram for InputPort< T >:

Public Member Functions
	~InputPort () override
virtual int64_t	get_version () const =0
	Returns a positive number that increases monotonically, and changes whenever the data on this port changes, according to the source of that data. More...
virtual double	get_sample_time_sec () const =0
	Returns the sampling interval of this port in seconds, or zero if this port is continuous. More...
virtual const VectorInterface< T > *	get_vector_data () const =0
	Returns the vector data on this port, or nullptr if this port is not vector-valued or not connected. More...
void	set_invalidation_callback (std::function< void()> callback)
	Registers callback to be called whenever the value of get_version changes. More...
void	Invalidate () override
	Receives notification that the output port on which this InputPort depends has changed, and calls the invalidation_callback_. More...
Public Member Functions inherited from OutputPortListenerInterface
virtual	~OutputPortListenerInterface ()

Protected Member Functions
	InputPort ()

Detailed Description

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

The InputPort describes a single input to a System, from another System or from an external driver.

Users should not subclass InputPort: all InputPorts are either DependentInputPorts or FreestandingInputPorts.

Template Parameters

T	The type of the input port. Must be a valid Eigen scalar.

Constructor & Destructor Documentation

~InputPort ( )

inlineoverride

InputPort ( )

inlineprotected

Member Function Documentation

virtual double get_sample_time_sec ( ) const

pure virtual

Returns the sampling interval of this port in seconds, or zero if this port is continuous.

Implemented in FreestandingInputPort< T >, FreestandingInputPort< int >, DependentInputPort< T >, and DependentInputPort< int >.

Here is the caller graph for this function:

virtual const VectorInterface<T>* get_vector_data ( ) const

pure virtual

Returns the vector data on this port, or nullptr if this port is not vector-valued or not connected.

Implementations must ensure that get_vector_data is O(1) and initiates no substantive computation.

Implemented in FreestandingInputPort< T >, FreestandingInputPort< int >, DependentInputPort< T >, and DependentInputPort< int >.

Here is the caller graph for this function:

virtual int64_t get_version ( ) const

pure virtual

Returns a positive number that increases monotonically, and changes whenever the data on this port changes, according to the source of that data.

Implemented in FreestandingInputPort< T >, FreestandingInputPort< int >, DependentInputPort< T >, and DependentInputPort< int >.

Here is the caller graph for this function:

void Invalidate ( )

inlineoverridevirtual

Receives notification that the output port on which this InputPort depends has changed, and calls the invalidation_callback_.

Implements OutputPortListenerInterface.

void set_invalidation_callback ( std::function< void()>  callback )

inline

Registers callback to be called whenever the value of get_version changes.

The callback should invalidate data that depends on the value of this port, but should not do any substantive computation.

---

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

• drake/systems/framework/system_input.h