diagram3.h

Go to the documentation of this file.

#pragma once

#include <memory>
#include <vector>

#include "drake/systems/framework/system3.h"

namespace drake {
namespace systems {

template <typename T>
class Diagram3: public System3<T> {
public:
  explicit Diagram3(const std::string& name) : System3<T>(name) {}
private:
  // Implement System3<T> interface.

  std::unique_ptr<AbstractContext3> DoCreateEmptyContext() const final {
    return std::make_unique<Context3<double>>();
  }

  // Don't need any additional resources.

  // Calculation consists of finding the subsystem that owns the actual
  // output port and making it do the evaluation.
  void DoCalcOutputPort(const AbstractContext3& context, int port_num,
                        AbstractValue* value) const final {
    throw std::logic_error(
        "Diagram3::DoCalcOutputPort(): a diagram shouldn't own any ports.");
  }
};

}  // namespace systems
}  // namespace drake