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#include <base_local_planner/trajectory.h>

namespace base_local_planner {
  Trajectory::Trajectory()
    : xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0)
  {
  }

  Trajectory::Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts)
    : 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)
  {
  }

  void Trajectory::getPoint(unsigned int index, double& x, double& y, double& th) const {
    x = x_pts_[index];
    y = y_pts_[index];
    th = th_pts_[index];
  }

  void Trajectory::setPoint(unsigned int index, double x, double y, double th){
    x_pts_[index] = x;
    y_pts_[index] = y;
    th_pts_[index] = th;
  }

  void Trajectory::addPoint(double x, double y, double th){
    x_pts_.push_back(x);
    y_pts_.push_back(y);
    th_pts_.push_back(th);
  }

  void Trajectory::resetPoints(){
    x_pts_.clear();
    y_pts_.clear();
    th_pts_.clear();
  }

  void Trajectory::getEndpoint(double& x, double& y, double& th) const {
    x = x_pts_.back();
    y = y_pts_.back();
    th = th_pts_.back();
  }

  unsigned int Trajectory::getPointsSize() const {
    return x_pts_.size();
  }
};