trajectory_path_node.h

#pragma once
 
#include <memory>
 
#include "software/ai/navigator/trajectory/bang_bang_trajectory_2d.h"
 
class TrajectoryPathNode
{
   public:
    TrajectoryPathNode(const std::shared_ptr<Trajectory2D> &trajectory,
                       double trajectory_end_time_s)
        : trajectory(trajectory), trajectory_end_time_s(trajectory_end_time_s){};
 
    TrajectoryPathNode(const std::shared_ptr<Trajectory2D> &trajectory)
        : trajectory(trajectory), trajectory_end_time_s(trajectory->getTotalTime()){};
 
    const std::shared_ptr<Trajectory2D> &getTrajectory() const
    {
        return trajectory;
    }
 
    const double &getTrajectoryEndTime() const
    {
        return trajectory_end_time_s;
    }
 
    void setTrajectoryEndTime(const double &new_end_time_sec)
    {
        trajectory_end_time_s = new_end_time_sec;
    }
 
   private:
    std::shared_ptr<Trajectory2D> trajectory;
    double trajectory_end_time_s;
};