Public Types | Public Member Functions | Private Attributes | List of all members
towr::State Class Reference

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

#include <state.h>

Inheritance diagram for towr::State:
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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...
 
VectorXdat (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< VectorXdvalues_
 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
dimThe number of dimensions this state has (e.g. x,y,z).
n_derivativesThe 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
derivIndex 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
derivIndex 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.


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


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16