trajectory_interface::PosVelAccState< ScalarType > Struct Template Reference

Multi-dof trajectory state containing position, velocity and acceleration data. More...

#include <pos_vel_acc_state.h>

Public Types
typedef ScalarType	Scalar

Public Member Functions
	PosVelAccState ()
	PosVelAccState (const typename std::vector< Scalar >::size_type size)
	Resource-preallocating constructor. More...

Public Attributes
std::vector< Scalar >	acceleration
std::vector< Scalar >	position
Scalar	time_from_start = Scalar(0)
std::vector< Scalar >	velocity

Detailed Description

template<class ScalarType>
struct trajectory_interface::PosVelAccState< ScalarType >

Multi-dof trajectory state containing position, velocity and acceleration data.

Definition at line 43 of file pos_vel_acc_state.h.

Member Typedef Documentation

Scalar

template<class ScalarType >

typedef ScalarType trajectory_interface::PosVelAccState< ScalarType >::Scalar

Definition at line 45 of file pos_vel_acc_state.h.

Constructor & Destructor Documentation

PosVelAccState() [1/2]

template<class ScalarType >

trajectory_interface::PosVelAccState< ScalarType >::PosVelAccState ( )

inline

Definition at line 47 of file pos_vel_acc_state.h.

PosVelAccState() [2/2]

template<class ScalarType >

trajectory_interface::PosVelAccState< ScalarType >::PosVelAccState ( const typename std::vector< Scalar >::size_type  size )

inline

Resource-preallocating constructor.

Position, velocity and acceleration vectors are resized to size, and their values are set to zero. Note that these two situations are different:

// 2-dimensional state specifying zero position, velocity and acceleration
State zero_pos_vel_acc(2);
 
// 2-dimensional state specifying zero position
State zero_pos;
zero_pos.position.resize(2);

Definition at line 63 of file pos_vel_acc_state.h.

Member Data Documentation

acceleration

template<class ScalarType >

std::vector<Scalar> trajectory_interface::PosVelAccState< ScalarType >::acceleration

Definition at line 72 of file pos_vel_acc_state.h.

position

template<class ScalarType >

std::vector<Scalar> trajectory_interface::PosVelAccState< ScalarType >::position

Definition at line 70 of file pos_vel_acc_state.h.

time_from_start

template<class ScalarType >

Scalar trajectory_interface::PosVelAccState< ScalarType >::time_from_start = Scalar(0)

Definition at line 73 of file pos_vel_acc_state.h.

velocity

template<class ScalarType >

std::vector<Scalar> trajectory_interface::PosVelAccState< ScalarType >::velocity

Definition at line 71 of file pos_vel_acc_state.h.

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The documentation for this struct was generated from the following file:

• pos_vel_acc_state.h