TrajectoryPathNode Class Reference

#include <trajectory_path_node.h>

Public Member Functions
	TrajectoryPathNode (const std::shared_ptr< Trajectory2D > &trajectory, double trajectory_end_time_s)
	TrajectoryPathNode (const std::shared_ptr< Trajectory2D > &trajectory)
const std::shared_ptr< Trajectory2D > &	getTrajectory () const
const double &	getTrajectoryEndTime () const
void	setTrajectoryEndTime (const double &new_end_time_sec)

Detailed Description

A class that wraps Trajectory2D and allows for earlier trajectory end-time than the actual full duration. This is useful for having multiple trajectories continuously connected to each other to form a path (TrajectoryPath).

Constructor & Destructor Documentation

TrajectoryPathNode() [1/2]

TrajectoryPathNode ( const std::shared_ptr< Trajectory2D > &  trajectory, double  trajectory_end_time_s  )

inline

Constructor for a trajectory and its end time

Parameters

trajectory	Trajectory of this trajectory path node
trajectory_end_time_s	End time of this trajectory

TrajectoryPathNode() [2/2]

TrajectoryPathNode ( const std::shared_ptr< Trajectory2D > &  trajectory )

inline

Constructor for a trajectory. It is assumed that the end time is the total time of the trajectory

Parameters

trajectory

Trajectory of this trajectory path node

Member Function Documentation

getTrajectory()

const std::shared_ptr< Trajectory2D > & getTrajectory ( ) const

inline

Get the trajectory of this trajectory path node

Returns

Trajectory of this trajectory path node

getTrajectoryEndTime()

const double & getTrajectoryEndTime ( ) const

inline

Get the end time of this trajectory

Returns

The end time of this trajectory

setTrajectoryEndTime()

void setTrajectoryEndTime ( const double &  new_end_time_sec )

inline

Update the end time of this trajectory

Parameters

new_end_time_sec

New end time

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

• src/software/ai/navigator/trajectory/trajectory_path_node.h