A node represents the state of a trajectory at a specific time. More...
#include <state.h>
Public Member Functions  
Node (int dim=0)  
Constructs a dim  dimensional node (default zerodimensional). More...  
virtual  ~Node ()=default 
Public Member Functions inherited from towr::State  
const VectorXd  a () const 
read access to the secondderivative of the state, e.g. acceleration. More...  
const VectorXd  at (Dx deriv) const 
Read the state value or it's derivatives by index. More...  
VectorXd &  at (Dx deriv) 
Read or write a specific state derivative by index. More...  
const VectorXd  p () const 
read access to the zeroderivative of the state, e.g. position. More...  
State (int dim, int n_derivatives)  
Constructs a state object. More...  
const VectorXd  v () const 
read access to the firstderivative of the state, e.g. velocity. More...  
virtual  ~State ()=default 
Static Public Attributes  
static const int  n_derivatives = 2 
value and first derivative. More...  
Additional Inherited Members  
Public Types inherited from towr::State  
using  VectorXd = Eigen::VectorXd 
A node represents the state of a trajectory at a specific time.
Given a set of nodes, cubic polynomials can be used to smoothly interpolate between them. Therefore, if optimal node values have been found, the continuous trajectory for that spline can be reconstructed.
In this framework a node only has position and velocity values, no acceleration.

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