state.cc

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#include <vector>
 
#include <xpp_states/state.h>
 
namespace xpp {
 
StateLinXd::StateLinXd (int dim)
{
  kNumDim = dim;
  p_ = VectorXd::Zero(dim);
  v_ = VectorXd::Zero(dim);
  a_ = VectorXd::Zero(dim);
}
 
StateLinXd::StateLinXd (const VectorXd& _p,
                        const VectorXd& _v,
                        const VectorXd& _a)
    :StateLinXd(_p.rows())
{
  p_ = _p;
  v_ = _v;
  a_ = _a;
}
 
StateLinXd::StateLinXd (const VectorXd& _p)
    :StateLinXd(_p.rows())
{
  p_ = _p;
}
 
const VectorXd
StateLinXd::GetByIndex (MotionDerivative deriv) const
{
  switch (deriv) {
    case kPos:  return p_; break;
    case kVel:  return v_; break;
    case kAcc:  return a_; break;
    default: throw std::runtime_error("[StateLinXd::GetByIndex] derivative not part of state");
  }
}
 
VectorXd&
StateLinXd::GetByIndex (MotionDerivative deriv)
{
  switch (deriv) {
    case kPos:  return p_; break;
    case kVel:  return v_; break;
    case kAcc:  return a_; break;
    default: throw std::runtime_error("[StateLinXd::GetByIndex] derivative not part of state");
  }
}
 
StateLin3d::StateLin3d (const StateLinXd& state_xd) : StateLinXd(3)
{
  assert(state_xd.kNumDim == 3);
 
  p_ = state_xd.p_;
  v_ = state_xd.v_;
  a_ = state_xd.a_;
}
 
StateLin2d
StateLin3d::Get2D() const
{
  StateLin2d p2d;
  p2d.p_ = p_.topRows<kDim2d>();
  p2d.v_ = v_.topRows<kDim2d>();
  p2d.a_ = a_.topRows<kDim2d>();
  return p2d;
}
 
Vector6d
State3d::Get6dVel () const
{
  Vector6d h_xd;
  h_xd.segment(AX, 3) = ang.w;
  h_xd.segment(LX, 3) = lin.v_;
  return h_xd;
}
 
Vector6d
State3d::Get6dAcc () const
{
  Vector6d h_xdd;
  h_xdd.segment(AX, 3) =  ang.wd;
  h_xdd.segment(LX, 3) =  lin.a_;
  return h_xdd;
}
 
} // namespace xpp