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.
unsigned int getPointsSize() const
Return the number of points in the trajectory.
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.
void addPoint(double x, double y, double th)
Add a point to the end of a trajectory.
std::vector< double > th_pts_
The theta points in the trajectory.
void getEndpoint(double &x, double &y, double &th) const
Get the last point of the trajectory.