/** * @brief get all points of the trajectory * @return a vector of trajectory points */

这段代码是TrajectoryAnalyzer类的一个成员函数，名为get_all_points。它没有参数，返回一个向量（vector）类型的trajectory points，即轨迹点的集合。

函数签名如下：

std::vector<TrajectoryPoint> get_all_points() const;

该函数的作用是获取轨迹的所有点。它返回一个包含所有轨迹点的向量，可以在外部代码中使用该向量进行遍历、分析或其他操作。

请注意，具体的实现细节可能会因系统设计和需求而有所不同。以上只是一个示例的函数签名和功能描述。

如果您对于TrajectoryAnalyzer类或者有关该函数的进一步问题，请随时提问。

相关问题

分析下列程序的运行namespace nav_core { /** * @class BaseLocalPlanner * @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. / class BaseLocalPlanner{ public: /* * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base * @param cmd_vel Will be filled with the velocity command to be passed to the robot base * @return True if a valid velocity command was found, false otherwise / virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; /* * @brief Check if the goal pose has been achieved by the local planner * @return True if achieved, false otherwise / virtual bool isGoalReached() = 0; /* * @brief Set the plan that the local planner is following * @param plan The plan to pass to the local planner * @return True if the plan was updated successfully, false otherwise / virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0; /* * @brief Constructs the local planner * @param name The name to give this instance of the local planner * @param tf A pointer to a transform listener * @param costmap_ros The cost map to use for assigning costs to local plans / virtual void initialize(std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseLocalPlanner(){} protected: BaseLocalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_LOCAL_PLANNER_H

这是一个 C++ 程序，定义了一个命名空间 nav_core，其中包含了一个类 BaseLocalPlanner，该类提供了用于导航中本地规划器的接口。所有作为导航栈插件编写的本地规划器都必须遵守此接口。

该类包含了四个虚函数，分别是：

1. computeVelocityCommands: 根据机器人的当前位置、方向和速度计算速度命令，并将其填充到 cmd_vel 中。

2. isGoalReached: 检查本地规划器是否已经到达目标位姿。

3. setPlan: 设置本地规划器要遵循的路径。

4. initialize: 构造本地规划器，并初始化其参数。

该类还包含了一个保护构造函数和一个虚析构函数。

给下列程序添加注释namespace nav_core { /** * @class BaseGlobalPlanner * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. */ class BaseGlobalPlanner{ public: /** * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @return True if a valid plan was found, false otherwise */ virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0; /** * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @param cost The plans calculated cost * @return True if a valid plan was found, false otherwise */ virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan, double& cost) { cost = 0; return makePlan(start, goal, plan); } /** * @brief Initialization function for the BaseGlobalPlanner * @param name The name of this planner * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning */ virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseGlobalPlanner(){} protected: BaseGlobalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_GLOBAL_PLANNER_H

namespace nav_core {

/** 
 * @class BaseGlobalPlanner
 * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface.
 */
class BaseGlobalPlanner{
 public:

  /** 
   * @brief Given a goal pose in the world, compute a plan
   * @param start The start pose 
   * @param goal The goal pose 
   * @param plan The plan... filled by the planner
   * @return True if a valid plan was found, false otherwise
   */
  virtual bool makePlan(const geometry_msgs::PoseStamped& start,
      const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;

  /** 
   * @brief Given a goal pose in the world, compute a plan
   * @param start The start pose 
   * @param goal The goal pose 
   * @param plan The plan... filled by the planner
   * @param cost The plans calculated cost
   * @return True if a valid plan was found, false otherwise
   */
  virtual bool makePlan(const geometry_msgs::PoseStamped& start,
                        const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan,
                        double& cost)
  {
    cost = 0;
    return makePlan(start, goal, plan);
  }

  /** 
   * @brief  Initialization function for the BaseGlobalPlanner
   * @param  name The name of this planner
   * @param  costmap_ros A pointer to the ROS wrapper of the costmap to use for planning
   */
  virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0;

  /** 
   * @brief  Virtual destructor for the interface
   */
  virtual ~BaseGlobalPlanner(){}

 protected:
  BaseGlobalPlanner(){}
};

}; // namespace nav_core

#endif // NAV_CORE_BASE_GLOBAL_PLANNER_H

这是一个名称空间为`nav_core`的C++程序。它定义了一个名为`BaseGlobalPlanner`的类，这个类是一个抽象类，提供用于导航中使用的全局计划器的接口。所有针对导航堆栈编写的全局计划器插件都必须遵循这个接口。

这个类有三个公共函数：

- `makePlan`：给定世界中的目标姿态，计算一个计划。
- `initialize`：初始化函数，用于设置计划器的名称和代价地图。
- 析构函数：用于销毁实例。

其中，`makePlan`函数有两个版本，其中一个版本还返回计划的代价。这个类还提供了一个保护构造函数，用于派生类的构造。