towr::State Class Reference

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

#include <state.h>

Inheritance diagram for towr::State:

Public Types
using	VectorXd = Eigen::VectorXd

Public Member Functions
const VectorXd	a () const
	read access to the second-derivative 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 zero-derivative 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 first-derivative of the state, e.g. velocity. More...
virtual	~State ()=default

Private Attributes
std::vector< VectorXd >	values_
	e.g. position, velocity and acceleration, ... More...

Detailed Description

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.

Definition at line 49 of file state.h.

Member Typedef Documentation

using towr::State::VectorXd = Eigen::VectorXd

Definition at line 51 of file state.h.

Constructor & Destructor Documentation

towr::State::State ( int  dim, int  n_derivatives  )

explicit

Constructs a state object.

Parameters

dim	The number of dimensions this state has (e.g. x,y,z).
n_derivatives	The number of derivatives. In control a state is usually made up of two (positions and velocities.

Definition at line 35 of file state.cc.

virtual towr::State::~State ( )

virtualdefault

Member Function Documentation

const Eigen::VectorXd towr::State::a

(

)

const

read access to the second-derivative of the state, e.g. acceleration.

Definition at line 65 of file state.cc.

const Eigen::VectorXd towr::State::at

(

Dx

deriv

)

const

Read the state value or it's derivatives by index.

Parameters

deriv

Index for that specific derivative (pos=0, vel=1, acc=2).

Returns

Read-only n-dimensional position, velocity or acceleration.

Definition at line 41 of file state.cc.

Eigen::VectorXd & towr::State::at

(

Dx

deriv

)

Read or write a specific state derivative by index.

Parameters

deriv

Index for that specific derivative (pos=0, vel=1, acc=2).

Returns

Read/write n-dimensional position, velocity or acceleration.

Definition at line 47 of file state.cc.

const Eigen::VectorXd towr::State::p

(

)

const

read access to the zero-derivative of the state, e.g. position.

Definition at line 53 of file state.cc.

const Eigen::VectorXd towr::State::v

(

)

const

read access to the first-derivative of the state, e.g. velocity.

Definition at line 59 of file state.cc.

Member Data Documentation

std::vector<VectorXd> towr::State::values_

private

e.g. position, velocity and acceleration, ...

Definition at line 93 of file state.h.

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

• state.h
• state.cc