towr::Node Class Reference

A node represents the state of a trajectory at a specific time. More...

#include <state.h>

Inheritance diagram for towr::Node:

Public Member Functions
	Node (int dim=0)
	Constructs a dim - dimensional node (default zero-dimensional). More...
virtual	~Node ()=default
Public Member Functions inherited from towr::State
const VectorXd	a () const
	read access to the second-derivative of the state, e.g. acceleration. More...
const VectorXd	at (Dx deriv) const
	Read the state value or it's derivatives by index. More...
VectorXd &	at (Dx deriv)
	Read or write a specific state derivative by index. More...
const VectorXd	p () const
	read access to the zero-derivative of the state, e.g. position. More...
	State (int dim, int n_derivatives)
	Constructs a state object. More...
const VectorXd	v () const
	read access to the first-derivative of the state, e.g. velocity. More...
virtual	~State ()=default

Static Public Attributes
static const int	n_derivatives = 2
	value and first derivative. More...

Additional Inherited Members
Public Types inherited from towr::State
using	VectorXd = Eigen::VectorXd

Detailed Description

A node represents the state of a trajectory at a specific time.

Given a set of nodes, cubic polynomials can be used to smoothly interpolate between them. Therefore, if optimal node values have been found, the continuous trajectory for that spline can be reconstructed.

In this framework a node only has position and velocity values, no acceleration.

Definition at line 107 of file state.h.

Constructor & Destructor Documentation

towr::Node::Node ( int  dim = 0 )

inlineexplicit

Constructs a dim - dimensional node (default zero-dimensional).

Definition at line 114 of file state.h.

virtual towr::Node::~Node ( )

virtualdefault

Member Data Documentation

const int towr::Node::n_derivatives = 2

static

value and first derivative.

Definition at line 109 of file state.h.

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

• state.h