Detailed Description

An "external" constraint on a System.

This class is intended for use by applications that are examining a System by adding additional constraints based on their particular situation (e.g., that a velocity state element has an upper bound); it is not intended for declaring intrinsic constraints that some particular System subclass might always impose on itself (e.g., that a mass parameter is non-negative).

#include <src/maliput/drake/systems/framework/system_constraint.h>

Public Member Functions
	ExternalSystemConstraint ()
	Creates an empty constraint. More...

	ExternalSystemConstraint (std::string description, SystemConstraintBounds bounds, SystemConstraintCalc< double > calc_double)
	Creates a constraint with the given arguments. More...

const std::string &	description () const
	Returns a human-readable description of this constraint. More...

const SystemConstraintBounds &	bounds () const
	Returns the bounds of this constraint (and whether it is an equality or inequality constraint.) More...

template<typename T >
const SystemConstraintCalc< T > &	get_calc () const
	Retrieves the evaluation function `value = f(system, context)` for this constraint. More...

template<>
const SystemConstraintCalc< double > &	do_get_calc () const

Static Public Member Functions
template<typename GenericSystemConstraintCalc >
static ExternalSystemConstraint	MakeForAllScalars (std::string description, SystemConstraintBounds bounds, GenericSystemConstraintCalc calc)
	Creates a constraint based on generic lambda. More...

template<typename GenericSystemConstraintCalc >
static ExternalSystemConstraint	MakeForNonsymbolicScalars (std::string description, SystemConstraintBounds bounds, GenericSystemConstraintCalc calc)
	Creates a constraint based on generic lambda. More...

Constructor & Destructor Documentation

◆ ExternalSystemConstraint() [1/2]

ExternalSystemConstraint ( )

Creates an empty constraint.

◆ ExternalSystemConstraint() [2/2]

ExternalSystemConstraint	(	std::string	description,
		SystemConstraintBounds	bounds,
		SystemConstraintCalc< double >	calc_double
	)

Creates a constraint with the given arguments.

The calc functions (other than calc_double) may be omitted.

Member Function Documentation

◆ bounds()

const SystemConstraintBounds& bounds ( ) const

Returns the bounds of this constraint (and whether it is an equality or inequality constraint.)

◆ description()

const std::string& description ( ) const

Returns a human-readable description of this constraint.

◆ do_get_calc()

const SystemConstraintCalc<double>& do_get_calc ( ) const

◆ get_calc()

const SystemConstraintCalc<T>& get_calc ( ) const

Retrieves the evaluation function value = f(system, context) for this constraint.

The result may be a default-constructed (missing) function, if the scalar type T is not supported by this constraint instance.

Template Parameters

T	denotes the scalar type of the System<T>.

◆ MakeForAllScalars()

static ExternalSystemConstraint MakeForAllScalars	(	std::string	description,
		SystemConstraintBounds	bounds,
		GenericSystemConstraintCalc	calc
	)

static

Creates a constraint based on generic lambda.

This constraint will supply Calc functions for Drake's default scalar types.

◆ MakeForNonsymbolicScalars()

static ExternalSystemConstraint MakeForNonsymbolicScalars	(	std::string	description,
		SystemConstraintBounds	bounds,
		GenericSystemConstraintCalc	calc
	)