base_local_planner::Trajectory Class Reference

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. More...
void	getEndpoint (double &x, double &y, double &th) const
	Get the last point of the trajectory. More...
void	getPoint (unsigned int index, double &x, double &y, double &th) const
	Get a point within the trajectory. More...
unsigned int	getPointsSize () const
	Return the number of points in the trajectory. More...
void	resetPoints ()
	Clear the trajectory's points. More...
void	setPoint (unsigned int index, double x, double y, double th)
	Set a point within the trajectory. More...
	Trajectory ()
	Default constructor. More...
	Trajectory (double xv, double yv, double thetav, double time_delta, unsigned int num_pts)
	Constructs a trajectory. More...

Public Attributes
double	cost_
	The cost/score of the trajectory. More...
double	thetav_
	The x, y, and theta velocities of the trajectory. More...
double	time_delta_
	The time gap between points. More...
double	xv_
double	yv_

Private Attributes
std::vector< double >	th_pts_
	The theta points in the trajectory. More...
std::vector< double >	x_pts_
	The x points in the trajectory. More...
std::vector< double >	y_pts_
	The y points in the trajectory. More...

Detailed Description

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

Definition at line 76 of file trajectory.h.

Constructor & Destructor Documentation

Trajectory() [1/2]

base_local_planner::Trajectory::Trajectory

(

)

Default constructor.

Definition at line 69 of file trajectory.cpp.

Trajectory() [2/2]

base_local_planner::Trajectory::Trajectory	(	double	xv,
		double	yv,
		double	thetav,
		double	time_delta,
		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 74 of file trajectory.cpp.

Member Function Documentation

addPoint()

void base_local_planner::Trajectory::addPoint	(	double	x,
		double	y,
		double	th
	)

Add a point to the end of a trajectory.

Parameters

x	The x position
y	The y position
th	The theta position

Definition at line 91 of file trajectory.cpp.

getEndpoint()

void base_local_planner::Trajectory::getEndpoint	(	double &	x,
		double &	y,
		double &	th
	)		const

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 103 of file trajectory.cpp.

getPoint()

void base_local_planner::Trajectory::getPoint	(	unsigned int	index,
		double &	x,
		double &	y,
		double &	th
	)		const

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 79 of file trajectory.cpp.

getPointsSize()

unsigned int base_local_planner::Trajectory::getPointsSize

(

)

const

Return the number of points in the trajectory.

Returns

The number of points in the trajectory

Definition at line 109 of file trajectory.cpp.

resetPoints()

void base_local_planner::Trajectory::resetPoints

(

)

Clear the trajectory's points.

Definition at line 97 of file trajectory.cpp.

setPoint()

void base_local_planner::Trajectory::setPoint	(	unsigned int	index,
		double	x,
		double	y,
		double	th
	)

Set a point within the trajectory.

Parameters

index	The index of the point to set
x	The x position
y	The y position
th	The theta position

Definition at line 85 of file trajectory.cpp.

Member Data Documentation

cost_

double base_local_planner::Trajectory::cost_

The cost/score of the trajectory.

Definition at line 94 of file trajectory.h.

th_pts_

std::vector<double> base_local_planner::Trajectory::th_pts_

private

The theta points in the trajectory.

Definition at line 146 of file trajectory.h.

thetav_

double base_local_planner::Trajectory::thetav_

The x, y, and theta velocities of the trajectory.

Definition at line 92 of file trajectory.h.

time_delta_

double base_local_planner::Trajectory::time_delta_

The time gap between points.

Definition at line 96 of file trajectory.h.

x_pts_

std::vector<double> base_local_planner::Trajectory::x_pts_

private

The x points in the trajectory.

Definition at line 144 of file trajectory.h.

xv_

double base_local_planner::Trajectory::xv_

Definition at line 92 of file trajectory.h.

y_pts_

std::vector<double> base_local_planner::Trajectory::y_pts_

private

The y points in the trajectory.

Definition at line 145 of file trajectory.h.

yv_

double base_local_planner::Trajectory::yv_

Definition at line 92 of file trajectory.h.

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The documentation for this class was generated from the following files:

• trajectory.h
• trajectory.cpp