towr::State Class Reference

Stores at state comprised of values and higher-order derivatives. More...

`#include <state.h>`

Inheritance diagram for towr::State:

## 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.

towr::State::State | ( | int | dim, |

int | n_derivatives |
||

) | ` [explicit]` |

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

const Eigen::VectorXd towr::State::a | ( | ) | const |

const Eigen::VectorXd towr::State::at | ( | Dx | deriv | ) | const |

Eigen::VectorXd & towr::State::at | ( | Dx | deriv | ) |

const Eigen::VectorXd towr::State::p | ( | ) | const |

const Eigen::VectorXd towr::State::v | ( | ) | const |

std::vector<VectorXd> towr::State::values_` [private]` |

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