Stores at state comprised of values and higherorder derivatives. More...
#include <state.h>
Public Types  
using  VectorXd = Eigen::VectorXd 
Public Member Functions  
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 
Private Attributes  
std::vector< VectorXd >  values_ 
e.g. position, velocity and acceleration, ... More...  
Stores at state comprised of values and higherorder derivatives.
This state can represent a motion state with position, velocity and accelerations, but also a forceprofiles with forces, forcederivatives etc.
using towr::State::VectorXd = Eigen::VectorXd 

explicit 

virtualdefault 
const Eigen::VectorXd towr::State::a  (  )  const 
const Eigen::VectorXd towr::State::at  (  Dx  deriv  )  const 
Eigen::VectorXd & towr::State::at  (  Dx  deriv  ) 
const Eigen::VectorXd towr::State::p  (  )  const 
const Eigen::VectorXd towr::State::v  (  )  const 

private 