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.

Detailed Description

Holds a trajectory generated by an x, y, and theta velocity.

Definition at line 44 of file trajectory.h.

Constructor & Destructor Documentation

base_local_planner::Trajectory::Trajectory ( )

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.

Parameters:

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.

Parameters:

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.

Parameters:

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.

Parameters:

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.