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 ()|
|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.