trajectory.h

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#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_H_
#define TRAJECTORY_ROLLOUT_TRAJECTORY_H_

#include <vector>

namespace iri_diff_local_planner {
  class Trajectory {
    public:
      Trajectory();

      Trajectory(double xv, double yv, double thetav, unsigned int num_pts);

      double xv_, yv_, thetav_; 

      double cost_; 

      void getPoint(unsigned int index, double& x, double& y, double& th);

      void setPoint(unsigned int index, double x, double y, double th);

      void addPoint(double x, double y, double th);

      void getEndpoint(double& x, double& y, double& th);

      void resetPoints();

      unsigned int getPointsSize();

    private:
      std::vector<double> x_pts_; 
      std::vector<double> y_pts_; 
      std::vector<double> th_pts_; 

  };
};
#endif