Holds a trajectory generated by considering 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) const |
Get the last point of the trajectory. | |
void | getPoint (unsigned int index, double &x, double &y, double &th) const |
Get a point within the trajectory. | |
unsigned int | getPointsSize () const |
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, double time_delta, 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 | time_delta_ |
The time gap between points. | |
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 considering 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, | ||
double | time_delta, | ||
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 | ||
) | const |
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 | ||
) | const |
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 | ( | ) | const |
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 114 of file trajectory.h.
The x, y, and theta velocities of the trajectory.
Definition at line 60 of file trajectory.h.
The time gap between points.
Definition at line 64 of file trajectory.h.
std::vector<double> base_local_planner::Trajectory::x_pts_ [private] |
The x points in the trajectory.
Definition at line 112 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 113 of file trajectory.h.
Definition at line 60 of file trajectory.h.