towr::Node Class Reference

A node represents the state of a trajectory at a specific time. More...

`#include <state.h>`

Inheritance diagram for towr::Node:

## Public Member Functions | |

Node (int dim=0) | |

Constructs a dim - dimensional node (default zero-dimensional). | |

virtual | ~Node () |

## Static Public Attributes | |

static const int | n_derivatives = 2 |

value and first derivative. |

A node represents the state of a trajectory at a specific time.

Given a set of nodes, cubic polynomials can be used to smoothly interpolate between them. Therefore, if optimal node values have been found, the continuous trajectory for that spline can be reconstructed.

In this framework a node only has position and velocity values, no acceleration.

towr::Node::Node | ( | int | dim = `0` | ) | ` [inline, explicit]` |

virtual towr::Node::~Node | ( | ) | ` [virtual]` |

const int towr::Node::n_derivatives = 2` [static]` |

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