state.h
Go to the documentation of this file.
1 /******************************************************************************
2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without
5 modification, are permitted provided that the following conditions are met:
6 
7 * Redistributions of source code must retain the above copyright notice, this
8  list of conditions and the following disclaimer.
9 
10 * Redistributions in binary form must reproduce the above copyright notice,
11  this list of conditions and the following disclaimer in the documentation
12  and/or other materials provided with the distribution.
13 
14 * Neither the name of the copyright holder nor the names of its
15  contributors may be used to endorse or promote products derived from
16  this software without specific prior written permission.
17 
18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 ******************************************************************************/
29 
30 #ifndef TOWR_VARIABLES_STATE_H_
31 #define TOWR_VARIABLES_STATE_H_
32 
33 #include <vector>
34 
35 #include <Eigen/Dense>
36 
37 
38 namespace towr {
39 
41 enum Dx { kPos=0, kVel, kAcc, kJerk };
42 
49 class State {
50 public:
52 
60  explicit State(int dim, int n_derivatives);
61  virtual ~State() = default;
62 
68  const VectorXd at(Dx deriv) const;
69 
75  VectorXd& at(Dx deriv);
76 
80  const VectorXd p() const;
81 
85  const VectorXd v() const;
86 
90  const VectorXd a() const;
91 
92 private:
93  std::vector<VectorXd> values_;
94 };
95 
96 
107 class Node : public State {
108 public:
109  static const int n_derivatives = 2;
110 
114  explicit Node(int dim = 0) : State(dim, n_derivatives) {};
115  virtual ~Node() = default;
116 };
117 
118 
122 struct BaseState {
123  BaseState(): lin(3), ang(3) {}
124 
127 };
128 
129 
130 } // namespace towr
131 
132 #endif // TOWR_VARIABLES
std::vector< VectorXd > values_
e.g. position, velocity and acceleration, ...
Definition: state.h:93
Stores at state comprised of values and higher-order derivatives.
Definition: state.h:49
const VectorXd at(Dx deriv) const
Read the state value or it&#39;s derivatives by index.
Definition: state.cc:41
Eigen::VectorXd VectorXd
virtual ~State()=default
const VectorXd p() const
Definition: state.cc:53
Can represent the 6Degree-of-Freedom floating base of a robot.
Definition: state.h:122
Node(int dim=0)
Constructs a dim - dimensional node (default zero-dimensional).
Definition: state.h:114
Node lin
linear position x,y,z and velocities.
Definition: state.h:125
State(int dim, int n_derivatives)
Constructs a state object.
Definition: state.cc:35
const VectorXd v() const
Definition: state.cc:59
const VectorXd a() const
Definition: state.cc:65
A node represents the state of a trajectory at a specific time.
Definition: state.h:107
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41
Node ang
angular euler roll, pitch, yaw and rates.
Definition: state.h:126
Eigen::VectorXd VectorXd
Definition: state.h:51


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57