Detailed Description
template<typename T>
class maliput::drake::systems::DiscreteUpdateEvent< T >
This class represents a discrete update event.
It has an optional callback function (two forms are supported) to do custom handling of this event, and that can write updates to a mutable, non-null DiscreteValues object.
- See also
- LeafSystem for more convenient interfaces to discrete update events via the Declare*DiscreteUpdateEvent() methods.
#include <src/maliput/drake/systems/framework/event.h>
Public Types | |
Discrete Update Callbacks | |
Two callback signatures are supported. See Event Callbacks for a complete discussion. Both callback types receive a const reference to the context and this discrete update event, and a writable non-null pointer to discrete state which the callback may write to. They differ in whether a const reference to the owning system is also provided. | |
| typedef std::function< void(const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *)> | DiscreteUpdateCallback |
| Callback without system reference. More... | |
| typedef std::function< void(const System< T > &, const Context< T > &, const DiscreteUpdateEvent< T > &, DiscreteValues< T > *)> | SystemCallback |
| Callback with const system reference. More... | |
 Public Types inherited from Event< T > | |
| using | TriggerType = systems::TriggerType |
Public Member Functions | |
| DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN (DiscreteUpdateEvent) | |
| bool | is_discrete_update () const override |
Returns true if this is a DiscreteUpdateEvent. More... | |
| DiscreteUpdateEvent () | |
| Makes a DiscreteUpdateEvent with no trigger type, no event data, and no specified callback function. More... | |
| DiscreteUpdateEvent (const DiscreteUpdateCallback &callback) | |
| Makes a DiscreteUpdateEvent with no trigger type, no event data, and the specified callback function. More... | |
| DiscreteUpdateEvent (const SystemCallback &system_callback) | |
| Makes a DiscreteUpdateEvent with no trigger type, no event data, and the specified system callback function. More... | |
| DiscreteUpdateEvent (const TriggerType &trigger_type, const DiscreteUpdateCallback &callback) | |
| DiscreteUpdateEvent (const TriggerType &trigger_type, const SystemCallback &system_callback) | |
| DiscreteUpdateEvent (const TriggerType &trigger_type) | |
| void | handle (const System< T > &system, const Context< T > &context, DiscreteValues< T > *discrete_state) const |
Calls the optional callback function, if one exists, with system, context, this and discrete_state. More... | |
| Public Member Functions inherited from Event< T > | |
| Event () | |
| virtual | ~Event () |
| std::unique_ptr< Event > | Clone () const |
| Clones this instance. More... | |
| TriggerType | get_trigger_type () const |
| Returns the trigger type. More... | |
| bool | has_event_data () const |
| Returns true if this event has associated data. More... | |
| const EventData * | get_event_data () const |
| Returns a const pointer to the event data. More... | |
| EventData * | get_mutable_event_data () |
| Returns a mutable pointer to the event data. More... | |
| void | set_trigger_type (const TriggerType trigger_type) |
| void | set_event_data (std::unique_ptr< EventData > data) |
| void | AddToComposite (TriggerType trigger_type, CompositeEventCollection< T > *events) const |
Adds a clone of this event to the event collection events, with the given trigger type. More... | |
| void | AddToComposite (CompositeEventCollection< T > *events) const |
| Provides an alternate signature for adding an Event that already has the correct trigger type set. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from Event< T > | |
| DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN (Event) | |
| Event (const TriggerType &trigger) | |
Member Typedef Documentation
◆ DiscreteUpdateCallback
| typedef std::function<void(const Context<T>&, const DiscreteUpdateEvent<T>&, DiscreteValues<T>*)> DiscreteUpdateCallback |
Callback without system reference.
◆ SystemCallback
| typedef std::function<void(const System<T>&, const Context<T>&, const DiscreteUpdateEvent<T>&, DiscreteValues<T>*)> SystemCallback |
Callback with const system reference.
Constructor & Destructor Documentation
◆ DiscreteUpdateEvent() [1/6]
Makes a DiscreteUpdateEvent with no trigger type, no event data, and no specified callback function.
◆ DiscreteUpdateEvent() [2/6]
|
explicit |
Makes a DiscreteUpdateEvent with no trigger type, no event data, and the specified callback function.
◆ DiscreteUpdateEvent() [3/6]
|
explicit |
Makes a DiscreteUpdateEvent with no trigger type, no event data, and the specified system callback function.
◆ DiscreteUpdateEvent() [4/6]
| DiscreteUpdateEvent | ( | const TriggerType & | trigger_type, |
| const DiscreteUpdateCallback & | callback | ||
| ) |
◆ DiscreteUpdateEvent() [5/6]
| DiscreteUpdateEvent | ( | const TriggerType & | trigger_type, |
| const SystemCallback & | system_callback | ||
| ) |
◆ DiscreteUpdateEvent() [6/6]
|
explicit |
Member Function Documentation
◆ DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN()
| DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN | ( | DiscreteUpdateEvent< T > | ) |
◆ handle()
| void handle | ( | const System< T > & | system, |
| const Context< T > & | context, | ||
| DiscreteValues< T > * | discrete_state | ||
| ) | const |
Calls the optional callback function, if one exists, with system, context, this and discrete_state.
◆ is_discrete_update()
|
overridevirtual |
Returns true if this is a DiscreteUpdateEvent.
Implements Event< T >.
The documentation for this class was generated from the following file:
