Template Class Motion4D¶
Defined in File motion4D.h
Class Documentation¶
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template<int
n_pos
= 5, intn_yaw
= 3, classT
= double>
classmav_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 voidsetStateP
(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