38 : xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0)
std::vector< double > x_pts_
The x points in the trajectory.
double time_delta_
The time gap between points.
void getPoint(unsigned int index, double &x, double &y, double &th) const
Get a point within the trajectory.
double cost_
The cost/score of the trajectory.
void resetPoints()
Clear the trajectory's points.
std::vector< double > y_pts_
The y points in the trajectory.
void setPoint(unsigned int index, double x, double y, double th)
Set a point within the trajectory.
double thetav_
The x, y, and theta velocities of the trajectory.
Trajectory()
Default constructor.
unsigned int getPointsSize() const
Return the number of points in the trajectory.
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) const
Get the last point of the trajectory.
std::vector< double > th_pts_
The theta points in the trajectory.