code: public Pose[] getPose() {
  		Pose[] ret = new Pose[psa.length];
  		for (int i = 0; i < ret.length; i++) {
  			ret[i] = psa[i].getPose();
  		}
  		return ret;
  	}
docs: Get the path (list of {@link Pose}s) of this {@link Trajectory}.
  @return The path (list of {@link Pose}s) of this {@link Trajectory}.