leaf_state_vector.h

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#pragma once

#include <Eigen/Dense>

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

namespace drake {
namespace systems {

template <typename T>
class LeafStateVector : public StateVector<T> {
 public:
  std::unique_ptr<LeafStateVector<T>> Clone() const {
    return std::unique_ptr<LeafStateVector<T>>(DoClone());
  }

 protected:
  LeafStateVector() {}

  virtual LeafStateVector<T>* DoClone() const = 0;

 private:
  // LeafStateVector objects are neither copyable nor moveable.
  LeafStateVector(const LeafStateVector& other) = delete;
  LeafStateVector& operator=(const LeafStateVector& other) = delete;
  LeafStateVector(LeafStateVector&& other) = delete;
  LeafStateVector& operator=(LeafStateVector&& other) = delete;
};

}  // namespace systems
}  // namespace drake