00001 /****************************************************************************** 00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved. 00003 00004 Redistribution and use in source and binary forms, with or without 00005 modification, are permitted provided that the following conditions are met: 00006 00007 * Redistributions of source code must retain the above copyright notice, this 00008 list of conditions and the following disclaimer. 00009 00010 * Redistributions in binary form must reproduce the above copyright notice, 00011 this list of conditions and the following disclaimer in the documentation 00012 and/or other materials provided with the distribution. 00013 00014 * Neither the name of the copyright holder nor the names of its 00015 contributors may be used to endorse or promote products derived from 00016 this software without specific prior written permission. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 ******************************************************************************/ 00029 00030 #include <towr/variables/state.h> 00031 00032 00033 namespace towr { 00034 00035 State::State (int dim, int n_derivatives) 00036 { 00037 values_ = std::vector<VectorXd>(n_derivatives, VectorXd::Zero(dim)); 00038 } 00039 00040 const Eigen::VectorXd 00041 State::at (Dx deriv) const 00042 { 00043 return values_.at(deriv); 00044 } 00045 00046 Eigen::VectorXd& 00047 State::at (Dx deriv) 00048 { 00049 return values_.at(deriv); 00050 } 00051 00052 const Eigen::VectorXd 00053 State::p () const 00054 { 00055 return at(kPos); 00056 } 00057 00058 const Eigen::VectorXd 00059 State::v () const 00060 { 00061 return at(kVel); 00062 } 00063 00064 const Eigen::VectorXd 00065 State::a () const 00066 { 00067 return at(kAcc); 00068 } 00069 00070 } // namespace towr 00071