state.h

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#ifndef TOWR_VARIABLES_STATE_H_
#define TOWR_VARIABLES_STATE_H_

#include <vector>

#include <Eigen/Dense>


namespace towr {

enum Dx { kPos=0, kVel, kAcc, kJerk };

class State {
public:
  using VectorXd = Eigen::VectorXd;

  explicit State(int dim, int n_derivatives);
  virtual ~State() = default;

  const VectorXd at(Dx deriv) const;

  VectorXd& at(Dx deriv);

  const VectorXd p() const;

  const VectorXd v() const;

  const VectorXd a() const;

private:
  std::vector<VectorXd> values_; 
};


class Node : public State {
public:
  static const int n_derivatives = 2; 

  explicit Node(int dim = 0) : State(dim, n_derivatives) {};
  virtual ~Node() = default;
};


struct BaseState {
  BaseState(): lin(3), ang(3) {}

  Node lin; 
  Node ang; 
};


} // namespace towr

#endif // TOWR_VARIABLES