stepping_stone.h

Go to the documentation of this file.

#ifndef stepping_stone_h
#define stepping_stone_h
 
#include<Eigen/Core>
#include<string>
 
class SteppingStone
{
    public: SteppingStone();
    
    public: SteppingStone(Eigen::Vector3d center, double width, double height, std::string name="");
 
    public: virtual ~SteppingStone();
 
    public: const Eigen::Vector3d &getCenter() const {return center;}
 
    public: const double &getWidth() {return width;}
 
    public: const double &getHeight() {return height;}
 
    public: const std::string &getName() const {return name;}
 
    public: const Eigen::Vector3d &getTopRight() const {return top_right;}
 
    public: const Eigen::Vector3d &getBottomRight() const {return bottom_right;}
 
    public: const Eigen::Vector3d &getTopLeft() const {return top_left;}
 
    public: const Eigen::Vector3d getBottomLeft() const {return bottom_left;}
 
    public: const Eigen::Matrix<double, 4, 3> &getAIneq() const {return A_ineq;}
 
    public: const Eigen::Matrix<double, 4, 1> &getBIneq() const {return b_ineq;}
 
    public: const Eigen::Matrix<double, 1, 3> &getAEq() const {return A_eq;}
 
    public: const Eigen::Matrix<double, 1, 1> &getBEq() const {return b_eq;}
    /*** Variables ***/
 
    private: Eigen::Vector3d center;
 
    private: double width;
 
    private: double height;
 
    private: std::string name;
 
    private: Eigen::Vector3d top_right;
 
    private: Eigen::Vector3d bottom_right;
    
    private: Eigen::Vector3d top_left;
 
    private: Eigen::Vector3d bottom_left;
 
    private: Eigen::Matrix<double, 4, 3> A_ineq;
 
    private: Eigen::Matrix<double, 4, 1> b_ineq;
 
    private: Eigen::Matrix<double, 1, 3> A_eq;
 
    private: Eigen::Matrix<double, 1, 1> b_eq;
 
};
 
#endif