trajectory.cpp
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00034 #include <base_local_planner/trajectory.h>
00035 
00036 namespace base_local_planner {
00037   Trajectory::Trajectory()
00038     : xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0)
00039   {
00040   }
00041 
00042   Trajectory::Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts)
00043     : xv_(xv), yv_(yv), thetav_(thetav), cost_(-1.0), time_delta_(time_delta), x_pts_(num_pts), y_pts_(num_pts), th_pts_(num_pts)
00044   {
00045   }
00046 
00047   void Trajectory::getPoint(unsigned int index, double& x, double& y, double& th) const {
00048     x = x_pts_[index];
00049     y = y_pts_[index];
00050     th = th_pts_[index];
00051   }
00052 
00053   void Trajectory::setPoint(unsigned int index, double x, double y, double th){
00054     x_pts_[index] = x;
00055     y_pts_[index] = y;
00056     th_pts_[index] = th;
00057   }
00058 
00059   void Trajectory::addPoint(double x, double y, double th){
00060     x_pts_.push_back(x);
00061     y_pts_.push_back(y);
00062     th_pts_.push_back(th);
00063   }
00064 
00065   void Trajectory::resetPoints(){
00066     x_pts_.clear();
00067     y_pts_.clear();
00068     th_pts_.clear();
00069   }
00070 
00071   void Trajectory::getEndpoint(double& x, double& y, double& th) const {
00072     x = x_pts_.back();
00073     y = y_pts_.back();
00074     th = th_pts_.back();
00075   }
00076 
00077   unsigned int Trajectory::getPointsSize() const {
00078     return x_pts_.size();
00079   }
00080 };


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:08