00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #include <base_local_planner/trajectory.h> 00035 00036 namespace base_local_planner { 00037 Trajectory::Trajectory() 00038 : xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0) 00039 { 00040 } 00041 00042 Trajectory::Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts) 00043 : xv_(xv), yv_(yv), thetav_(thetav), cost_(-1.0), time_delta_(time_delta), x_pts_(num_pts), y_pts_(num_pts), th_pts_(num_pts) 00044 { 00045 } 00046 00047 void Trajectory::getPoint(unsigned int index, double& x, double& y, double& th) const { 00048 x = x_pts_[index]; 00049 y = y_pts_[index]; 00050 th = th_pts_[index]; 00051 } 00052 00053 void Trajectory::setPoint(unsigned int index, double x, double y, double th){ 00054 x_pts_[index] = x; 00055 y_pts_[index] = y; 00056 th_pts_[index] = th; 00057 } 00058 00059 void Trajectory::addPoint(double x, double y, double th){ 00060 x_pts_.push_back(x); 00061 y_pts_.push_back(y); 00062 th_pts_.push_back(th); 00063 } 00064 00065 void Trajectory::resetPoints(){ 00066 x_pts_.clear(); 00067 y_pts_.clear(); 00068 th_pts_.clear(); 00069 } 00070 00071 void Trajectory::getEndpoint(double& x, double& y, double& th) const { 00072 x = x_pts_.back(); 00073 y = y_pts_.back(); 00074 th = th_pts_.back(); 00075 } 00076 00077 unsigned int Trajectory::getPointsSize() const { 00078 return x_pts_.size(); 00079 } 00080 };