Public Member Functions |
const VectorXd | a () const |
| read access to the second-derivative of the state, e.g. acceleration.
|
const VectorXd | at (Dx deriv) const |
| Read the state value or it's derivatives by index.
|
VectorXd & | at (Dx deriv) |
| Read or write a specific state derivative by index.
|
const VectorXd | p () const |
| read access to the zero-derivative of the state, e.g. position.
|
| State (int dim, int n_derivatives) |
| Constructs a state object.
|
const VectorXd | v () const |
| read access to the first-derivative of the state, e.g. velocity.
|
virtual | ~State () |
Private Attributes |
std::vector< VectorXd > | values_ |
| e.g. position, velocity and acceleration, ...
|
Stores at state comprised of values and higher-order derivatives.
This state can represent a motion state with position, velocity and accelerations, but also a force-profiles with forces, force-derivatives etc.
Definition at line 49 of file state.h.