StateVector is an abstract base class template for vector quantities within the state of a System. More...

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

Inheritance diagram for StateVector< T >:

Public Member Functions
virtual	~StateVector ()

virtual int	size () const =0
	Returns the number of elements in the vector. More...

virtual const T	GetAtIndex (int index) const =0
	Returns the element at the given index in the vector. More...

virtual void	SetAtIndex (int index, const T &value)=0
	Replaces the state at the given index with the value. More...

virtual void	SetFromVector (const Eigen::Ref< const VectorX< T >> &value)=0
	Replaces the entire state with the contents of value. More...

virtual VectorX< T >	CopyToVector () const =0
	Copies the entire state to a vector with no semantics. More...

virtual void	ScaleAndAddToVector (const T &scale, Eigen::Ref< VectorX< T >> vec) const
	Adds a scaled version of this state vector to Eigen vector `vec`, which must be the same size. More...

virtual StateVector &	PlusEqScaled (const T &scale, const StateVector< T > &rhs)
	Add in scaled state vector `rhs` to this state vector. More...

StateVector &	operator+= (const StateVector< T > &rhs)
	Add in state vector `rhs` to this state vector. More...

StateVector &	operator-= (const StateVector< T > &rhs)
	Subtract in state vector `rhs` to this state vector. More...

Protected Member Functions
	StateVector ()

Detailed Description

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

StateVector is an abstract base class template for vector quantities within the state of a System.

Both composite Systems (Diagrams) and leaf Systems have state that satisfies StateVector.

Template Parameters

T	A mathematical type compatible with Eigen's Scalar.

Constructor & Destructor Documentation

virtual ~StateVector ( )

inlinevirtual

StateVector ( )

inlineprotected

Here is the caller graph for this function:

Member Function Documentation

virtual VectorX<T> CopyToVector ( ) const

pure virtual

Copies the entire state to a vector with no semantics.

Implementations should ensure this operation is O(N) in the size of the value and allocates only the O(N) memory that it returns.

Implemented in StateSubvector< T >, and BasicStateVector< T >.

Here is the caller graph for this function:

virtual const T GetAtIndex ( int index ) const

pure virtual

Returns the element at the given index in the vector.

Throws std::out_of_range if the index is >= size().

Implementations should ensure this operation is O(1) and allocates no memory.

Implemented in StateSubvector< T >, and BasicStateVector< T >.

Here is the caller graph for this function:

StateVector& operator+= ( const StateVector< T > & rhs )

inline

Add in state vector rhs to this state vector.

StateVector& operator-= ( const StateVector< T > & rhs )

inline

Subtract in state vector rhs to this state vector.

virtual StateVector& PlusEqScaled	(	const T &	scale,
		const StateVector< T > &	rhs
	)

inlinevirtual

Add in scaled state vector rhs to this state vector.

Both vectors must be the same size.

Implementations may override this default implementation with a more efficient approach, for instance if this vector is contiguous. Implementations should ensure this operation remains O(N) in the size of the value and allocates no memory.

Reimplemented in BasicStateVector< T >.

Here is the caller graph for this function:

virtual void ScaleAndAddToVector	(	const T &	scale,
		Eigen::Ref< VectorX< T >>	vec
	)		const

inlinevirtual

Adds a scaled version of this state vector to Eigen vector vec, which must be the same size.

Implementations may override this default implementation with a more efficient approach, for instance if this vector is contiguous. Implementations should ensure this operation remains O(N) in the size of the value and allocates no memory.

Reimplemented in BasicStateVector< T >.

Here is the caller graph for this function: