64 lines
1.3 KiB
C++
64 lines
1.3 KiB
C++
#pragma once
|
|
|
|
#include <memory>
|
|
#include "common/geometry/pose3d.h"
|
|
|
|
namespace common {
|
|
|
|
class Trajectory {
|
|
public:
|
|
typedef std::shared_ptr<Trajectory> Ptr;
|
|
typedef std::shared_ptr<const Trajectory> ConstPtr;
|
|
|
|
Trajectory() = default;
|
|
|
|
explicit Trajectory(const std::vector<Pose3d> &poses) {
|
|
poses_ = poses;
|
|
}
|
|
|
|
size_t size() const {
|
|
return poses_.size();
|
|
}
|
|
|
|
bool empty() const {
|
|
return poses_.empty();
|
|
}
|
|
|
|
const Pose3d &at(size_t i) const {
|
|
return poses_.at(i);
|
|
}
|
|
|
|
void AddPose(const Pose3d &pose) {
|
|
poses_.push_back(pose);
|
|
}
|
|
|
|
Trajectory Copy(bool last_as_origin = false) const {
|
|
Trajectory traj;
|
|
if (empty()) return traj;
|
|
if (!last_as_origin) return *this;
|
|
const Pose3d &last_inv = poses_.back().Inv();
|
|
for (const auto &pose : poses_) {
|
|
traj.AddPose(last_inv * pose);
|
|
}
|
|
return traj;
|
|
}
|
|
|
|
std::vector<Eigen::Vector3d> GetPointSeq(bool last_as_origin = false) const {
|
|
std::vector<Eigen::Vector3d> point_seq;
|
|
if (empty()) return point_seq;
|
|
const Pose3d &last_inv = poses_.back().Inv();
|
|
for (const auto &pose : poses_) {
|
|
if (last_as_origin) {
|
|
point_seq.push_back((last_inv * pose).t_vec());
|
|
} else {
|
|
point_seq.push_back(pose.t_vec());
|
|
}
|
|
}
|
|
return point_seq;
|
|
};
|
|
|
|
private:
|
|
std::vector<Pose3d> poses_;
|
|
};
|
|
|
|
} // namespace common
|