state.h
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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
const VectorXd a() const
read access to the second-derivative of the state, e.g. acceleration.
Definition: state.cc:65
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
const VectorXd v() const
read access to the first-derivative of the state, e.g. velocity.
Definition: state.cc:59
Eigen::VectorXd VectorXd
virtual ~State()=default
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
const VectorXd p() const
read access to the zero-derivative of the state, e.g. position.
Definition: state.cc:53
State(int dim, int n_derivatives)
Constructs a state object.
Definition: state.cc:35
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
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22