/// <summary>
/// Use above quantities to define trajectory
/// </summary>
protected override void AddQuantities()
{
var inf = double.NaN;
var inf2 = new[] { inf, inf };
CM = TDef.AddQuantity(TrajectoryQuantityType.State, Settings.BBoxMin, Settings.BBoxMax);
CMDot = TDef.AddQuantity(TrajectoryQuantityType.Velocity, inf2, inf2);
//theta = TDef.AddQuantity(TrajectoryQuantityType.State, inf, inf);
//thetaDot = TDef.AddQuantity(TrajectoryQuantityType.Velocity, inf, inf);
d = TDef.AddQuantity(TrajectoryQuantityType.State, -Settings.DMax, Settings.DMax);
dDot = TDef.AddQuantity(TrajectoryQuantityType.Velocity, inf, inf);
lambda1 = TDef.AddQuantity(TrajectoryQuantityType.Lambda, 0, inf);
//lambda2 = TDef.AddQuantity(TrajectoryQuantityType.Lambda, 0, inf);
//uTheta = TDef.AddQuantity(TrajectoryQuantityType.Actuation, -Settings.UThetaMax, Settings.UThetaMax);
uD = TDef.AddQuantity(TrajectoryQuantityType.Actuation, -Settings.UDMax, Settings.UDMax);
}
internal Entry(TDef def)
{
this.def = def;
}