base_local_planner: base_local_planner: trajectory.h Source File

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00034 #ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_H_
00035 #define TRAJECTORY_ROLLOUT_TRAJECTORY_H_
00036 
00037 #include <vector>
00038 
00039 namespace base_local_planner {
00044   class Trajectory {
00045     public:
00049       Trajectory();
00050 
00058       Trajectory(double xv, double yv, double thetav, unsigned int num_pts);
00059 
00060       double xv_, yv_, thetav_; 
00061 
00062       double cost_; 
00063 
00071       void getPoint(unsigned int index, double& x, double& y, double& th);
00072 
00080       void setPoint(unsigned int index, double x, double y, double th);
00081 
00088       void addPoint(double x, double y, double th);
00089 
00096       void getEndpoint(double& x, double& y, double& th);
00097 
00101       void resetPoints();
00102 
00107       unsigned int getPointsSize();
00108 
00109     private:
00110       std::vector<double> x_pts_; 
00111       std::vector<double> y_pts_; 
00112       std::vector<double> th_pts_; 
00113 
00114   };
00115 };
00116 #endif