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context.cc
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context.cc
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#include "drake/systems/framework/context.h"
#include "drake/common/pointer_cast.h"
namespace drake {
namespace systems {
template <typename T>
void Context<T>::SetTime(const T& time_sec) {
ThrowIfNotRootContext(__func__, "Time");
const int64_t change_event = this->start_new_change_event();
PropagateTimeChange(this, time_sec, {}, change_event);
}
template <typename T>
FixedInputPortValue& Context<T>::FixInputPort(
int index, const BasicVector<T>& vec) {
return ContextBase::FixInputPort(
index, std::make_unique<Value<BasicVector<T>>>(vec.Clone()));
}
template <typename T>
FixedInputPortValue& Context<T>::FixInputPort(
int index, const Eigen::Ref<const VectorX<T>>& data) {
return ContextBase::FixInputPort(
index, std::make_unique<Value<BasicVector<T>>>(data));
}
template <typename T>
FixedInputPortValue& Context<T>::FixInputPort(
int index, std::unique_ptr<BasicVector<T>> vec) {
DRAKE_THROW_UNLESS(vec.get() != nullptr);
return ContextBase::FixInputPort(
index, std::make_unique<Value<BasicVector<T>>>(vec->Clone()));
}
template <typename T>
void Context<T>::SetAccuracy(const std::optional<double>& accuracy) {
ThrowIfNotRootContext(__func__, "Accuracy");
const int64_t change_event = this->start_new_change_event();
PropagateAccuracyChange(this, accuracy, change_event);
}
template <typename T>
State<T>& Context<T>::get_mutable_state() {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event, &Context<T>::NoteAllStateChanged);
return do_access_mutable_state();
}
template <typename T>
ContinuousState<T>& Context<T>::get_mutable_continuous_state() {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event,
&Context<T>::NoteAllContinuousStateChanged);
return do_access_mutable_state().get_mutable_continuous_state();
}
template <typename T>
DiscreteValues<T>& Context<T>::get_mutable_discrete_state() {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event,
&Context<T>::NoteAllDiscreteStateChanged);
return do_access_mutable_state().get_mutable_discrete_state();
}
template <typename T>
AbstractValues& Context<T>::get_mutable_abstract_state() {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event,
&Context<T>::NoteAllAbstractStateChanged);
return do_access_mutable_state().get_mutable_abstract_state();
}
template <typename T>
Parameters<T>& Context<T>::get_mutable_parameters() {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event, &Context<T>::NoteAllParametersChanged);
return *parameters_;
}
template <typename T>
BasicVector<T>& Context<T>::get_mutable_numeric_parameter(int index) {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event,
&Context<T>::NoteAllNumericParametersChanged);
return parameters_->get_mutable_numeric_parameter(index);
}
template <typename T>
AbstractValue& Context<T>::get_mutable_abstract_parameter(int index) {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event,
&Context<T>::NoteAllAbstractParametersChanged);
return parameters_->get_mutable_abstract_parameter(index);
}
template <typename T>
VectorBase<T>& Context<T>::SetTimeAndGetMutableQVector(const T& time_sec) {
ThrowIfNotRootContext(__func__, "Time");
const int64_t change_event = this->start_new_change_event();
PropagateTimeChange(this, time_sec, {}, change_event);
PropagateBulkChange(change_event, &Context<T>::NoteAllQChanged);
return do_access_mutable_state() // No invalidation here.
.get_mutable_continuous_state()
.get_mutable_generalized_position();
}
template <typename T>
std::pair<VectorBase<T>*, VectorBase<T>*> Context<T>::GetMutableVZVectors() {
const int64_t change_event = this->start_new_change_event();
PropagateBulkChange(change_event, &Context<T>::NoteAllVZChanged);
ContinuousState<T>& xc = // No invalidation here.
do_access_mutable_state().get_mutable_continuous_state();
return {&xc.get_mutable_generalized_velocity(),
&xc.get_mutable_misc_continuous_state()};
}
template <typename T>
std::unique_ptr<Context<T>> Context<T>::Clone() const {
return dynamic_pointer_cast_or_throw<Context<T>>(ContextBase::Clone());
}
template <typename T>
std::unique_ptr<State<T>> Context<T>::CloneState() const {
auto result = DoCloneState();
result->get_mutable_continuous_state().set_system_id(this->get_system_id());
return result;
}
template <typename T>
std::string Context<T>::to_string() const {
return do_to_string();
}
template <typename T>
void Context<T>::PerturbTime(const T& time, const T& true_time) {
ThrowIfNotRootContext(__func__, "Time");
const int64_t change_event = this->start_new_change_event();
PropagateTimeChange(this, time, std::optional<T>(true_time), change_event);
}
template <typename T>
Context<T>::Context() = default;
template <typename T>
Context<T>::Context(const Context<T>&) = default;
template <typename T>
void Context<T>::PropagateTimeChange(
Context<T>* context, const T& time, const std::optional<T>& true_time,
int64_t change_event) {
DRAKE_ASSERT(context != nullptr);
context->NoteTimeChanged(change_event);
context->time_ = time;
context->true_time_ = true_time;
context->DoPropagateTimeChange(time, true_time, change_event);
}
template <typename T>
void Context<T>::PropagateAccuracyChange(
Context<T>* context, const std::optional<double>& accuracy,
int64_t change_event) {
DRAKE_ASSERT(context != nullptr);
context->NoteAccuracyChanged(change_event);
context->accuracy_ = accuracy;
context->DoPropagateAccuracyChange(accuracy, change_event);
}
template <typename T>
std::unique_ptr<Context<T>> Context<T>::CloneWithoutPointers(
const Context<T>& source) {
return dynamic_pointer_cast_or_throw<Context<T>>(
ContextBase::CloneWithoutPointers(source));
}
template <typename T>
void Context<T>::init_continuous_state(std::unique_ptr<ContinuousState<T>> xc) {
do_access_mutable_state().set_continuous_state(std::move(xc));
}
template <typename T>
void Context<T>::init_discrete_state(std::unique_ptr<DiscreteValues<T>> xd) {
do_access_mutable_state().set_discrete_state(std::move(xd));
}
template <typename T>
void Context<T>::init_abstract_state(std::unique_ptr<AbstractValues> xa) {
do_access_mutable_state().set_abstract_state(std::move(xa));
}
template <typename T>
void Context<T>::init_parameters(std::unique_ptr<Parameters<T>> params) {
DRAKE_DEMAND(params != nullptr);
parameters_ = std::move(params);
}
template <typename T>
void Context<T>::ThrowIfNotRootContext(
const char* func_name, const char* quantity) const {
if (!is_root_context()) {
throw std::logic_error(
fmt::format("{}(): {} change allowed only in the root Context.",
func_name, quantity));
}
}
template <typename T>
void Context<T>::SetTimeAndNoteContinuousStateChangeHelper(
const char* func_name, const T& time_sec) {
ThrowIfNotRootContext(func_name, "Time");
const int64_t change_event = this->start_new_change_event();
PropagateTimeChange(this, time_sec, {}, change_event);
PropagateBulkChange(change_event,
&Context<T>::NoteAllContinuousStateChanged);
}
} // namespace systems
} // namespace drake
DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
class ::drake::systems::Context)