Template Class Motion4D¶
Defined in File motion4D.h
Class Documentation¶
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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
Public Functions
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inline Motion4D()¶
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inline Motion4D(int size)¶
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inline Motion4D(int size_pos, int size_yaw)¶
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inline void reset()¶
sets all vectors to zero
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inline Eigen::Matrix<T, 3, 1> getStateP(unsigned int derivative) const¶
Returns the given derivative of the position states.
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template<class Derived>
inline void setStateP(unsigned int derivative, const Eigen::MatrixBase<Derived> &dp)¶ Sets the given derivative of the position states.
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inline std::string toString() const¶
returns a string of the vectors
Public Members
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PositionType x¶
stores the position derivatives in the x axis
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PositionType y¶
stores the position derivatives in the y axis
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PositionType z¶
stores the position derivatives in the z axis
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inline Motion4D()¶