state.h
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
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00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
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00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TOWR_VARIABLES_STATE_H_
00031 #define TOWR_VARIABLES_STATE_H_
00032 
00033 #include <vector>
00034 
00035 #include <Eigen/Dense>
00036 
00037 
00038 namespace towr {
00039 
00041 enum Dx { kPos=0, kVel, kAcc, kJerk };
00042 
00049 class State {
00050 public:
00051   using VectorXd = Eigen::VectorXd;
00052 
00060   explicit State(int dim, int n_derivatives);
00061   virtual ~State() = default;
00062 
00068   const VectorXd at(Dx deriv) const;
00069 
00075   VectorXd& at(Dx deriv);
00076 
00080   const VectorXd p() const;
00081 
00085   const VectorXd v() const;
00086 
00090   const VectorXd a() const;
00091 
00092 private:
00093   std::vector<VectorXd> values_; 
00094 };
00095 
00096 
00107 class Node : public State {
00108 public:
00109   static const int n_derivatives = 2; 
00110 
00114   explicit Node(int dim = 0) : State(dim, n_derivatives) {};
00115   virtual ~Node() = default;
00116 };
00117 
00118 
00122 struct BaseState {
00123   BaseState(): lin(3), ang(3) {}
00124 
00125   Node lin; 
00126   Node ang; 
00127 };
00128 
00129 
00130 } // namespace towr
00131 
00132 #endif // TOWR_VARIABLES


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44