SystemInterface< T > Class Template Reference

A superclass template for systems that receive input, maintain state, and produce numerical output using a specified scalar type T. More...

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

Inheritance diagram for SystemInterface< T >:

Collaboration diagram for SystemInterface< T >:

Public Member Functions
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
	SystemInterface ()
Protected Member Functions inherited from AbstractSystemInterface
	AbstractSystemInterface ()

Detailed Description

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

A superclass template for systems that receive input, maintain state, and produce numerical output using a specified scalar type T.

Concrete systems with no state should inherit directly from this interface. Concrete systems with state should use a more specific interface in the SystemInterface family.

Template Parameters

T	The vector element type, which must be a valid Eigen scalar.

Constructor & Destructor Documentation

SystemInterface ( )

inlineprotected

Member Function Documentation

virtual std::unique_ptr<SystemOutput<T> > AllocateOutput ( ) const

pure virtual

Returns a default output, initialized with the correct number of concrete output ports for this System.

Implemented in Adder< T >.

virtual std::unique_ptr<Context<T> > CreateDefaultContext ( ) const

pure virtual

Returns a default context, initialized with the correct numbers of concrete input ports and state variables for this System.

Since input port pointers are not owned by the Context, they should simply be initialized to nullptr.

Implemented in Adder< T >.

virtual T EvalKineticEnergy ( const Context< T > &  context ) const

inlinevirtual

Return the kinetic energy currently present in the motion provided in the given Context.

Non-physical Systems will return 0.

virtual void EvalOutput ( const Context< T > &  context, SystemOutput< T > *  output  ) const

pure virtual

Computes the output for the given context, possibly updating values in the cache.

Implemented in Adder< T >.

virtual T EvalPotentialEnergy ( const Context< T > &  context ) const

inlinevirtual

Return the potential energy currently stored in the configuration provided in the given Context.

Non-physical Systems will return 0.

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

• drake/systems/framework/system_interface.h