Template Class Motion4DPolynomial¶
Defined in File motion4D.h
Class Documentation¶
-
template<int
n_pos
= 12, intn_yaw
= 8, classT
= double>
classmav_planning_utils
::
Motion4DPolynomial
¶ defines a container for 4D motion (x, y, z, yaw) and their respective derivatives of degree n_*
Public Types
-
typedef std::vector<Motion4DPolynomial<n_pos, n_yaw, T>, Eigen::aligned_allocator<Motion4DPolynomial<n_pos, n_yaw, T>>>
Vector
¶ defines a vector type for this class with the necessary eigen aligned allocator
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typedef Polynomial<n_pos, T>
PositionType
¶ Position type definition.
-
typedef Polynomial<n_yaw, T>
YawType
¶ Yaw type definition.
Public Functions
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inline void
reset
()¶ sets all vectors to zero
-
inline Eigen::Matrix<T, 3, 1>
getStateP
(T t, unsigned int derivative) const¶ Returns the given derivative of the position states.
-
inline std::string
toString
() const¶ returns a string of the vectors
Public Members
-
PositionType
x
¶ stores the x axis polynomial
-
PositionType
y
¶ stores the y axis polynomial
-
PositionType
z
¶ stores the z axis polynomial
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typedef std::vector<Motion4DPolynomial<n_pos, n_yaw, T>, Eigen::aligned_allocator<Motion4DPolynomial<n_pos, n_yaw, T>>>