xpp::StateLinXd Class Reference

Represents position, velocity and acceleration in x-dimensions. More...

#include <state.h>

Inheritance diagram for xpp::StateLinXd:

Public Member Functions
const VectorXd	GetByIndex (MotionDerivative deriv) const
	Read either position, velocity of acceleration by index. More...
VectorXd &	GetByIndex (MotionDerivative deriv)
	Read and write either position, velocity of acceleration by index. More...
bool	operator!= (const StateLinXd &other) const
	Returns true if just one value in this state differs from other. More...
bool	operator== (const StateLinXd &other) const
	Returns true if this state has all same pos,vel and acc as other. More...
	StateLinXd (int _dim=0)
	Constructs an object of dimensions _dim. More...
	StateLinXd (const VectorXd &p, const VectorXd &v, const VectorXd &a)
	Constructs object with specific position, velocity and acceleration. More...
	StateLinXd (const VectorXd &p)
	Constructs object with position p, zeroing velocity and acc. More...
virtual	~StateLinXd ()=default

Public Attributes
VectorXd	a_
	position, velocity and acceleration More...
int	kNumDim = 0
	the number of dimenions this state represents. More...
VectorXd	p_
VectorXd	v_

Detailed Description

Represents position, velocity and acceleration in x-dimensions.

Definition at line 58 of file state.h.

Constructor & Destructor Documentation

StateLinXd() [1/3]

xpp::StateLinXd::StateLinXd ( int  _dim = 0 )

explicit

Constructs an object of dimensions _dim.

Be careful of default value, as zero dimensional object is bound to cause seg-fault at some point.

Definition at line 36 of file state.cc.

StateLinXd() [2/3]

xpp::StateLinXd::StateLinXd ( const VectorXd &  p, const VectorXd &  v, const VectorXd &  a  )

explicit

Constructs object with specific position, velocity and acceleration.

Parameters

p	Position of the state.
v	Velocity of the state.
a	Acceleration of the state.

The dimensions are set to the number of rows of p.

Definition at line 44 of file state.cc.

StateLinXd() [3/3]

xpp::StateLinXd::StateLinXd

(

const VectorXd &

p

)

Constructs object with position p, zeroing velocity and acc.

Definition at line 54 of file state.cc.

~StateLinXd()

virtual xpp::StateLinXd::~StateLinXd ( )

virtualdefault

Member Function Documentation

GetByIndex() [1/2]

const VectorXd xpp::StateLinXd::GetByIndex

(

MotionDerivative

deriv

)

const

Read either position, velocity of acceleration by index.

Parameters

deriv

Index for that specific derivative (pos=0, vel=1, acc=2).

Returns

Read only n-dimensional position, velocity or acceleration.

Definition at line 61 of file state.cc.

GetByIndex() [2/2]

VectorXd & xpp::StateLinXd::GetByIndex

(

MotionDerivative

deriv

)

Read and write either position, velocity of acceleration by index.

Parameters

deriv

Index for that specific derivative (pos=0, vel=1, acc=2).

Returns

Read/write n-dimensional position, velocity or acceleration.

Definition at line 72 of file state.cc.

operator!=()

bool xpp::StateLinXd::operator!= ( const StateLinXd &  other ) const

inline

Returns true if just one value in this state differs from other.

Definition at line 268 of file state.h.

operator==()

bool xpp::StateLinXd::operator== ( const StateLinXd &  other ) const

inline

Returns true if this state has all same pos,vel and acc as other.

Definition at line 260 of file state.h.

Member Data Documentation

a_

VectorXd xpp::StateLinXd::a_

position, velocity and acceleration

Definition at line 60 of file state.h.

kNumDim

int xpp::StateLinXd::kNumDim = 0

the number of dimenions this state represents.

Definition at line 110 of file state.h.

p_

VectorXd xpp::StateLinXd::p_

Definition at line 60 of file state.h.

v_

VectorXd xpp::StateLinXd::v_

Definition at line 60 of file state.h.

---

The documentation for this class was generated from the following files:

• state.h
• state.cc