state.cc
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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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 


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 15 2019 02:42:32