state.cc
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29 
30 #include <towr/variables/state.h>
31 
32 
33 namespace towr {
34 
35 State::State (int dim, int n_derivatives)
36 {
37  values_ = std::vector<VectorXd>(n_derivatives, VectorXd::Zero(dim));
38 }
39 
40 const Eigen::VectorXd
41 State::at (Dx deriv) const
42 {
43  return values_.at(deriv);
44 }
45 
46 Eigen::VectorXd&
47 State::at (Dx deriv)
48 {
49  return values_.at(deriv);
50 }
51 
52 const Eigen::VectorXd
53 State::p () const
54 {
55  return at(kPos);
56 }
57 
58 const Eigen::VectorXd
59 State::v () const
60 {
61  return at(kVel);
62 }
63 
64 const Eigen::VectorXd
65 State::a () const
66 {
67  return at(kAcc);
68 }
69 
70 } // namespace towr
71 
towr::State::values_
std::vector< VectorXd > values_
e.g. position, velocity and acceleration, ...
Definition: state.h:93
towr::State::at
const VectorXd at(Dx deriv) const
Read the state value or it&#39;s derivatives by index.
Definition: state.cc:41
towr::VectorXd
Eigen::VectorXd VectorXd
Definition: dynamic_constraint_test.cc:37
towr::State::p
const VectorXd p() const
read access to the zero-derivative of the state, e.g. position.
Definition: state.cc:53
towr::State::State
State(int dim, int n_derivatives)
Constructs a state object.
Definition: state.cc:35
towr::State::v
const VectorXd v() const
read access to the first-derivative of the state, e.g. velocity.
Definition: state.cc:59
towr::State::a
const VectorXd a() const
read access to the second-derivative of the state, e.g. acceleration.
Definition: state.cc:65
towr::Dx
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41

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