.. _program_listing_file_src_LouLib_Paths_Trajectory.hpp:

Program Listing for File Trajectory.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Paths_Trajectory.hpp>` (``src/LouLib/Paths/Trajectory.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef LOULIB_TRAJECTORY_HPP
   #define LOULIB_TRAJECTORY_HPP
   
   #include "BezierCurve.hpp"
   
   namespace LouLib {
       namespace Paths {
   
           class Trajectory {
           private:
               std::vector<Units::Length> _x;
               std::vector<Units::Length> _y;
               std::vector<Units::Angle> _theta;
               std::vector<Units::Velocity> _v;
               std::vector<Units::AngularVelocity> _omega;
   
               std::vector<Units::Length> _distFromStart;
               std::vector<double> _curvature;
   
   
           public:
               Trajectory(std::vector<Math::Pose2D> waypoints, Units::Velocity maxVel, Units::Acceleration maxAccel,
                          Units::Length maxFullSpeedTurnRadius, Units::Velocity finalVel = 0_mps);
   
               int size();
   
               Units::Length getX(int i);
   
               Units::Length getY(int i);
   
               Units::Angle getTheta(int i);
   
               Units::Velocity getVelocity(int i);
   
               Units::AngularVelocity getAngularVelocity(int i);
   
               Units::Length getDistFromStart(int i);
   
           };
   
       } // LouLib
   } // Paths
   
   #endif //LOULIB_TRAJECTORY_HPP