state.cc

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#include <towr/variables/state.h>


namespace towr {

State::State (int dim, int n_derivatives)
{
  values_ = std::vector<VectorXd>(n_derivatives, VectorXd::Zero(dim));
}

const Eigen::VectorXd
State::at (Dx deriv) const
{
  return values_.at(deriv);
}

Eigen::VectorXd&
State::at (Dx deriv)
{
  return values_.at(deriv);
}

const Eigen::VectorXd
State::p () const
{
  return at(kPos);
}

const Eigen::VectorXd
State::v () const
{
  return at(kVel);
}

const Eigen::VectorXd
State::a () const
{
  return at(kAcc);
}

} // namespace towr