copp::PathDerivatives Struct Reference

Result of path evaluation. More...

#include <path.hpp>

Public Attributes
Matrix	q
std::optional< Matrix >	dq
std::optional< Matrix >	ddq
std::optional< Matrix >	dddq

Detailed Description

Result of path evaluation.

All matrices use shape (dim, s.size()) and column-major storage. Optional derivative matrices are populated according to the evaluation method:

• evaluate_q: only q
• evaluate_up_to_2nd: q, dq, and ddq
• evaluate_up_to_3rd: q, dq, ddq, and dddq

Definition at line 339 of file path.hpp.

Member Data Documentation

q

Matrix copp::PathDerivatives::q

Definition at line 341 of file path.hpp.

dq

std::optional<Matrix> copp::PathDerivatives::dq

Definition at line 342 of file path.hpp.

ddq

std::optional<Matrix> copp::PathDerivatives::ddq

Definition at line 343 of file path.hpp.

dddq

std::optional<Matrix> copp::PathDerivatives::dddq

Definition at line 344 of file path.hpp.

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The documentation for this struct was generated from the following file:

• bindings/cpp/include/copp/path.hpp