Holds a trajectory generated by an x, y, and theta velocity. More...
#include <trajectory.h>
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. |
Holds a trajectory generated by an x, y, and theta velocity.
Definition at line 44 of file trajectory.h.
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.
xv | The x velocity used to seed the trajectory |
yv | The y velocity used to seed the trajectory |
thetav | The theta velocity used to seed the trajectory |
num_pts | The expected number of points for a trajectory |
Definition at line 42 of file trajectory.cpp.
void base_local_planner::Trajectory::addPoint | ( | double | x, |
double | y, | ||
double | th | ||
) |
Add a point to the end of a trajectory.
x | The x position |
y | The y position |
th | The 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.
x | Will be set to the x position of the point |
y | Will be set to the y position of the point |
th | Will 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.
index | The index of the point to get |
x | Will be set to the x position of the point |
y | Will be set to the y position of the point |
th | Will be set to the theta position of the point |
Definition at line 47 of file trajectory.cpp.
unsigned int base_local_planner::Trajectory::getPointsSize | ( | ) |
Return 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.
index | The index of the point to set |
x | The x position |
y | The y position |
th | The theta position |
Definition at line 53 of file trajectory.cpp.
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.