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base_local_planner::Trajectory Class Reference

Holds a trajectory generated by an x, y, and theta velocity. More...

#include <trajectory.h>

List of all members.

Public Member Functions

void addPoint (double x, double y, double th)
 Add a point to the end of a trajectory.
void getEndpoint (double &x, double &y, double &th)
 Get the last point of the trajectory.
void getPoint (unsigned int index, double &x, double &y, double &th)
 Get a point within the trajectory.
unsigned int getPointsSize ()
 Return the number of points in the trajectory.
void resetPoints ()
 Clear the trajectory's points.
void setPoint (unsigned int index, double x, double y, double th)
 Set a point within the trajectory.
 Trajectory ()
 Default constructor.
 Trajectory (double xv, double yv, double thetav, unsigned int num_pts)
 Constructs a trajectory.

Public Attributes

double cost_
 The cost/score of the trajectory.
double thetav_
 The x, y, and theta velocities of the trajectory.
double xv_
double yv_

Private Attributes

std::vector< double > th_pts_
 The theta points in the trajectory.
std::vector< double > x_pts_
 The x points in the trajectory.
std::vector< double > y_pts_
 The y points in the trajectory.

Detailed Description

Holds a trajectory generated by an x, y, and theta velocity.

Definition at line 44 of file trajectory.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 37 of file trajectory.cpp.

base_local_planner::Trajectory::Trajectory ( double  xv,
double  yv,
double  thetav,
unsigned int  num_pts 
)

Constructs a trajectory.

Parameters:
xvThe x velocity used to seed the trajectory
yvThe y velocity used to seed the trajectory
thetavThe theta velocity used to seed the trajectory
num_ptsThe expected number of points for a trajectory

Definition at line 42 of file trajectory.cpp.


Member Function Documentation

void base_local_planner::Trajectory::addPoint ( double  x,
double  y,
double  th 
)

Add a point to the end of a trajectory.

Parameters:
xThe x position
yThe y position
thThe theta position

Definition at line 59 of file trajectory.cpp.

void base_local_planner::Trajectory::getEndpoint ( double &  x,
double &  y,
double &  th 
)

Get the last point of the trajectory.

Parameters:
xWill be set to the x position of the point
yWill be set to the y position of the point
thWill be set to the theta position of the point

Definition at line 71 of file trajectory.cpp.

void base_local_planner::Trajectory::getPoint ( unsigned int  index,
double &  x,
double &  y,
double &  th 
)

Get a point within the trajectory.

Parameters:
indexThe index of the point to get
xWill be set to the x position of the point
yWill be set to the y position of the point
thWill be set to the theta position of the point

Definition at line 47 of file trajectory.cpp.

Return the number of points in the trajectory.

Returns:
The number of points in the trajectory

Definition at line 77 of file trajectory.cpp.

Clear the trajectory's points.

Definition at line 65 of file trajectory.cpp.

void base_local_planner::Trajectory::setPoint ( unsigned int  index,
double  x,
double  y,
double  th 
)

Set a point within the trajectory.

Parameters:
indexThe index of the point to set
xThe x position
yThe y position
thThe theta position

Definition at line 53 of file trajectory.cpp.


Member Data Documentation

The cost/score of the trajectory.

Definition at line 62 of file trajectory.h.

std::vector<double> base_local_planner::Trajectory::th_pts_ [private]

The theta points in the trajectory.

Definition at line 112 of file trajectory.h.

The x, y, and theta velocities of the trajectory.

Definition at line 60 of file trajectory.h.

std::vector<double> base_local_planner::Trajectory::x_pts_ [private]

The x points in the trajectory.

Definition at line 110 of file trajectory.h.

Definition at line 60 of file trajectory.h.

std::vector<double> base_local_planner::Trajectory::y_pts_ [private]

The y points in the trajectory.

Definition at line 111 of file trajectory.h.

Definition at line 60 of file trajectory.h.


The documentation for this class was generated from the following files:
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bipedRobinBase_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Wed Oct 9 2013 10:07:14