trajectory.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 #ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_H_
00035 #define TRAJECTORY_ROLLOUT_TRAJECTORY_H_
00036 
00037 #include <vector>
00038 
00039 namespace iri_diff_local_planner {
00044   class Trajectory {
00045     public:
00049       Trajectory();
00050 
00058       Trajectory(double xv, double yv, double thetav, unsigned int num_pts);
00059 
00060       double xv_, yv_, thetav_; 
00061 
00062       double cost_; 
00063 
00071       void getPoint(unsigned int index, double& x, double& y, double& th);
00072 
00080       void setPoint(unsigned int index, double x, double y, double th);
00081 
00088       void addPoint(double x, double y, double th);
00089 
00096       void getEndpoint(double& x, double& y, double& th);
00097 
00101       void resetPoints();
00102 
00107       unsigned int getPointsSize();
00108 
00109     private:
00110       std::vector<double> x_pts_; 
00111       std::vector<double> y_pts_; 
00112       std::vector<double> th_pts_; 
00113 
00114   };
00115 };
00116 #endif


iri_diff_local_planner
Author(s): Iri Lab
autogenerated on Fri Dec 6 2013 20:32:36