Class o80::Item3dState¶
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class Item3dState¶
Public Functions
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Item3dState()¶
State6d, but with the convention that the first 3 values are a 3d position, and the last 3 values a 3d velocity.
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Item3dState(double d1, double d2, double d3, double d4, double d5, double d6)¶
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Item3dState(const std::array<double, 3> &p, const std::array<double, 3> &v)¶
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void set_position(double a, double b, double c)¶
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void set_velocity(double a, double b, double c)¶
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void set_position(const std::array<double, 3> &position)¶
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void set_velocity(const std::array<double, 3> &velocity)¶
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void set(double d1, double d2, double d3, double d4, double d5, double d6)¶
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std::array<double, 3> get_position() const¶
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std::array<double, 3> get_velocity() const¶
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double get(int index) const¶
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std::string to_string() const¶
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inline bool finished(const o80::TimePoint &start, const o80::TimePoint &now, const Item3dState &start_state, const Item3dState ¤t_state, const Item3dState &previous_desired_state, const Item3dState &target_state, const o80::Speed &speed) const¶
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inline Item3dState intermediate_state(const o80::TimePoint &start, const o80::TimePoint &now, const Item3dState &start_state, const Item3dState ¤t_state, const Item3dState &previous_desired_state, const Item3dState &target_state, const o80::Speed &speed) const¶
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inline Item3dState intermediate_state(const o80::TimePoint &start, const o80::TimePoint &now, const Item3dState &start_state, const Item3dState ¤t_state, const Item3dState &previous_desired_state, const Item3dState &target_state, const o80::Duration_us &duration) const¶
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inline Item3dState intermediate_state(long int start_iteration, long int current_iteration, const Item3dState &start_state, const Item3dState ¤t_state, const Item3dState &previous_desired_state, const Item3dState &target_state, const o80::Iteration &iteration) const¶
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inline double to_duration(double speed, const Item3dState &target_state) const¶
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Item3dState()¶