Multi-dof trajectory state containing position, velocity and acceleration data. More...

#include <pos_vel_acc_state.h>

Public Types
typedef ScalarType	Scalar
Public Member Functions
	PosVelAccState ()
	PosVelAccState (const typename std::vector< Scalar >::size_type size)
	Resource-preallocating constructor.
Public Attributes
std::vector< Scalar >	acceleration
std::vector< Scalar >	position
std::vector< Scalar >	velocity

Detailed Description

template<class ScalarType>
struct trajectory_interface::PosVelAccState< ScalarType >

Multi-dof trajectory state containing position, velocity and acceleration data.

Definition at line 44 of file pos_vel_acc_state.h.

Member Typedef Documentation

template<class ScalarType >

typedef ScalarType trajectory_interface::PosVelAccState< ScalarType >::Scalar

Definition at line 46 of file pos_vel_acc_state.h.

Constructor & Destructor Documentation

template<class ScalarType >

trajectory_interface::PosVelAccState< ScalarType >::PosVelAccState ( ) [inline]

Definition at line 48 of file pos_vel_acc_state.h.

template<class ScalarType >

trajectory_interface::PosVelAccState< ScalarType >::PosVelAccState ( const typename std::vector< Scalar >::size_type size ) [inline]

Resource-preallocating constructor.

Position, velocity and acceleration vectors are resized to size, and their values are set to zero. Note that these two situations are different:

 // 2-dimensional state specifying zero position, velocity and acceleration
 State zero_pos_vel_acc(2);

 // 2-dimensional state specifying zero position
 State zero_pos;
 zero_pos.position.resize(2);

Definition at line 64 of file pos_vel_acc_state.h.