A node represents the state of a trajectory at a specific time. More...
#include <state.h>
Inheritance diagram for towr::Node:
Public Member Functions | |
| Node (int dim=0) | |
| Constructs a dim - dimensional node (default zero-dimensional). More... | |
| virtual | ~Node ()=default |
 Public Member Functions inherited from towr::State | |
| 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 |
Static Public Attributes | |
| static const int | n_derivatives = 2 |
| value and first derivative. More... | |
Additional Inherited Members | |
| Public Types inherited from towr::State | |
| using | VectorXd = Eigen::VectorXd |
Detailed Description
A node represents the state of a trajectory at a specific time.
Given a set of nodes, cubic polynomials can be used to smoothly interpolate between them. Therefore, if optimal node values have been found, the continuous trajectory for that spline can be reconstructed.
In this framework a node only has position and velocity values, no acceleration.
Constructor & Destructor Documentation
◆ Node()
|
inlineexplicit |
◆ ~Node()
|
virtualdefault |
Member Data Documentation
◆ n_derivatives
|
static |
The documentation for this class was generated from the following file: