Template Class Motion4D

Class Documentation

template<int n_pos = 5, int n_yaw = 3, class T = double>
class mav_planning_utils::Motion4D

defines a container for 4D motion (x, y, z, yaw) and their respective derivatives of degree n_*

Public Types

typedef std::vector<Motion4D<n_pos, n_yaw, T>, Eigen::aligned_allocator<Motion4D<n_pos, n_yaw, T>>> Vector

defines a vector type for this class with the necessary eigen aligned allocator

typedef Eigen::Matrix<T, n_pos, 1> PositionType

Position type definition.

typedef Eigen::Matrix<T, n_yaw, 1> YawType

Yaw type definition.

Public Functions

inline Motion4D()
inline Motion4D(int size)
inline Motion4D(int size_pos, int size_yaw)
inline void reset()

sets all vectors to zero

inline Eigen::Matrix<T, 3, 1> getStateP(unsigned int derivative) const

Returns the given derivative of the position states.

template<class Derived>
inline void setStateP(unsigned int derivative, const Eigen::MatrixBase<Derived> &dp)

Sets the given derivative of the position states.

inline std::string toString() const

returns a string of the vectors

Public Members

PositionType x

stores the position derivatives in the x axis

PositionType y

stores the position derivatives in the y axis

PositionType z

stores the position derivatives in the z axis

YawType yaw

stores the yaw derivatives

Public Static Attributes

static const int N_POS = n_pos
static const int N_YAW = n_yaw