diff --git a/Core/Inc/point.h b/Core/Inc/point.h
new file mode 100644
index 0000000..3022a4b
--- /dev/null
+++ b/Core/Inc/point.h
@@ -0,0 +1,51 @@
+/*
+ * point.h
+ *
+ *  Created on: Mar 24, 2025
+ *      Author: CHAUVEAU Maxime
+ */
+
+#ifndef INC_POINT_H_
+#define INC_POINT_H_
+
+#include <array>
+#include <cstdint>
+
+enum class StatePoint {
+    UNKNOWN,
+    START,
+    END,
+    INTERMEDIATE
+};
+
+class Point {
+private:
+    float x;
+    float y;
+    float theta;
+    uint32_t id;
+    StatePoint state;
+
+public:
+    // Constructeur
+    Point(float x = 0.0, float y = 0.0, float theta = 0.0, StatePoint state = StatePoint::UNKNOWN);
+
+    // Setters
+    void setX(float x);
+    void setY(float y);
+    void setTheta(float theta);
+    void setState(StatePoint s);
+    void setID(uint32_t id);
+
+    // Getters
+    float getX();
+    float getY();
+    float getTheta();
+    std::array<float, 3> getPoint();
+    StatePoint getState();
+    uint32_t getID();
+};
+
+
+
+#endif /* INC_POINT_H_ */
diff --git a/Core/Src/point.cpp b/Core/Src/point.cpp
new file mode 100644
index 0000000..77870b2
--- /dev/null
+++ b/Core/Src/point.cpp
@@ -0,0 +1,55 @@
+
+
+#include "point.h"
+
+Point::Point(float x, float y, float theta, StatePoint state){
+	this->x = x;
+	this->y = y;
+	this->theta = theta;
+	this->state = state;
+}
+
+void Point::setX(float x){
+	this->x = x;
+}
+
+void Point::setY(float y){
+	this->y = y;
+}
+
+void Point::setTheta(float theta){
+	this->theta = theta;
+}
+
+void Point::setState(StatePoint s){
+	this->state = s;
+}
+
+void Point::setID(uint32_t id){
+	this->id = id;
+}
+
+
+float Point::getX(){
+	return x;
+}
+
+float Point::getY(){
+	return y;
+}
+
+float Point::getTheta(){
+	return theta;
+}
+
+std::array<float, 3> Point::getPoint(){
+	return {this->x, this->y, this->theta};
+}
+
+StatePoint Point::getState(){
+	return state;
+}
+
+uint32_t Point::getID(){
+	return id;
+}