trajectory.h
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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, double time_delta, unsigned int num_pts);
00059 
00060       double xv_, yv_, thetav_; 
00061 
00062       double cost_; 
00063 
00064       double time_delta_; 
00065 
00073       void getPoint(unsigned int index, double& x, double& y, double& th) const;
00074 
00082       void setPoint(unsigned int index, double x, double y, double th);
00083 
00090       void addPoint(double x, double y, double th);
00091 
00098       void getEndpoint(double& x, double& y, double& th) const;
00099 
00103       void resetPoints();
00104 
00109       unsigned int getPointsSize() const;
00110 
00111     private:
00112       std::vector<double> x_pts_; 
00113       std::vector<double> y_pts_; 
00114       std::vector<double> th_pts_; 
00115 
00116   };
00117 };
00118 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30