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--- a/include/robot_base_local_planner/trajectory.h
+++ b/include/robot_base_local_planner/trajectory.h
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+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+#ifndef ROBOT_TRAJECTORY_ROLLOUT_TRAJECTORY_H_
+#define ROBOT_TRAJECTORY_ROLLOUT_TRAJECTORY_H_
+
+#include <vector>
+
+namespace robot_base_local_planner {
+  /**
+   * @class Trajectory
+   * @brief Holds a trajectory generated by considering an x, y, and theta velocity
+   */
+  class Trajectory {
+    public:
+      /**
+       * @brief  Default constructor
+       */
+      Trajectory();
+
+      /**
+       * @brief  Constructs a trajectory
+       * @param xv The x velocity used to seed the trajectory
+       * @param yv The y velocity used to seed the trajectory
+       * @param thetav The theta velocity used to seed the trajectory
+       * @param num_pts The expected number of points for a trajectory
+       */
+      Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts);
+
+      double xv_, yv_, thetav_; ///< @brief The x, y, and theta velocities of the trajectory
+
+      double cost_; ///< @brief The cost/score of the trajectory
+
+      double time_delta_; ///< @brief The time gap between points
+
+      /**
+       * @brief  Get a point within the trajectory
+       * @param index The index of the point to get
+       * @param x Will be set to the x position of the point
+       * @param y Will be set to the y position of the point
+       * @param th Will be set to the theta position of the point
+       */
+      void getPoint(unsigned int index, double& x, double& y, double& th) const;
+
+      /**
+       * @brief  Set a point within the trajectory
+       * @param index The index of the point to set
+       * @param x The x position
+       * @param y The y position
+       * @param th The theta position
+       */
+      void setPoint(unsigned int index, double x, double y, double th);
+
+      /**
+       * @brief  Add a point to the end of a trajectory
+       * @param x The x position
+       * @param y The y position
+       * @param th The theta position
+       */
+      void addPoint(double x, double y, double th);
+
+      /**
+       * @brief  Get the last point of the trajectory
+       * @param x Will be set to the x position of the point
+       * @param y Will be set to the y position of the point
+       * @param th Will be set to the theta position of the point
+       */
+      void getEndpoint(double& x, double& y, double& th) const;
+
+      /**
+       * @brief  Clear the trajectory's points
+       */
+      void resetPoints();
+
+      /**
+       * @brief  Return the number of points in the trajectory
+       * @return The number of points in the trajectory
+       */
+      unsigned int getPointsSize() const;
+
+    private:
+      std::vector<double> x_pts_; ///< @brief The x points in the trajectory
+      std::vector<double> y_pts_; ///< @brief The y points in the trajectory
+      std::vector<double> th_pts_; ///< @brief The theta points in the trajectory
+
+  };
+}
+#endif