81 lines
2.9 KiB
C++
81 lines
2.9 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#include <robot_base_local_planner/trajectory.h>
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namespace robot_base_local_planner {
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Trajectory::Trajectory()
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: xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0)
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{
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}
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Trajectory::Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts)
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: 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)
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{
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}
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void Trajectory::getPoint(unsigned int index, double& x, double& y, double& th) const {
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x = x_pts_[index];
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y = y_pts_[index];
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th = th_pts_[index];
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}
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void Trajectory::setPoint(unsigned int index, double x, double y, double th){
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x_pts_[index] = x;
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y_pts_[index] = y;
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th_pts_[index] = th;
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}
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void Trajectory::addPoint(double x, double y, double th){
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x_pts_.push_back(x);
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y_pts_.push_back(y);
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th_pts_.push_back(th);
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}
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void Trajectory::resetPoints(){
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x_pts_.clear();
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y_pts_.clear();
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th_pts_.clear();
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}
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void Trajectory::getEndpoint(double& x, double& y, double& th) const {
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x = x_pts_.back();
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y = y_pts_.back();
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th = th_pts_.back();
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}
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unsigned int Trajectory::getPointsSize() const {
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return x_pts_.size();
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}
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};
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