diff --git a/lwrserv/include/BangBangTrajectroy.h b/lwrserv/include/BangBangTrajectroy.h
new file mode 100644
index 0000000..04bb040
--- /dev/null
+++ b/lwrserv/include/BangBangTrajectroy.h
@@ -0,0 +1,23 @@
+#ifndef _BANGBANGTRAJCETORY_H_
+#define _BANGBANGTRAJCETORY_H_
+#include "Trajectroy.h"
+
+class Trajectory;
+class BangBangJointTrajectroy : public Trajectory
+{
+    public:
+        BangBangJointTrajectroy();
+        BangBangJointTrajectroy(unsigned int steps);
+        BangBangJointTrajectroy(unsigned int steps, unsigned int joints);
+        ~BangBangJointTrajectroy();
+    private:
+
+    protected:
+
+};
+class BangBangCartTrajectory: public Trajectory
+{
+
+};
+
+#endif 
diff --git a/lwrserv/include/FivePolyTrajectory.h b/lwrserv/include/FivePolyTrajectory.h
new file mode 100644
index 0000000..ed79613
--- /dev/null
+++ b/lwrserv/include/FivePolyTrajectory.h
@@ -0,0 +1,12 @@
+#ifndef _FIVEPOLYTRAJECTORY_H_
+#define _FIVEPOLYTRAJECTORY_H_
+#include "Trajectroy.h"
+
+class FivePolyJointTrajectory: public Trajectory
+{
+};
+class FivePolyCartTrajectory: public Trajectory
+{
+};
+
+#endif
diff --git a/lwrserv/include/LSPBTrajectroy.h b/lwrserv/include/LSPBTrajectroy.h
new file mode 100644
index 0000000..0da6cf0
--- /dev/null
+++ b/lwrserv/include/LSPBTrajectroy.h
@@ -0,0 +1,12 @@
+#ifndef _LSPBTRAJCETORY_H_
+#define _LSPBTRAJCETORY_H_
+#include "Trajectroy.h"
+
+class LSPBJointTrajectroy: public Trajectory
+{
+};
+class LSPBCartTrajectroy: public Trajectory
+{
+};
+
+#endif
diff --git a/lwrserv/include/LinPolyTrajectory.h b/lwrserv/include/LinPolyTrajectory.h
new file mode 100644
index 0000000..1e4cecc
--- /dev/null
+++ b/lwrserv/include/LinPolyTrajectory.h
@@ -0,0 +1,21 @@
+#ifndef _LINPOLYTRAJECTORY_H_
+#define _LINPOLYTRAJECTORY_H_
+#include "Trajectroy.h"
+
+class LinPolyJointTrajectory: public Trajectory
+{
+    public:
+        LinPolyJointTrajectory();
+        BangBangJointTrajectroy(unsigned int steps);
+        BangBangJointTrajectroy(unsigned int steps, unsigned int joints);
+        ~BangBangJointTrajectroy();
+    private:
+
+    protected:
+};
+class LinPolyCartTrajectory: public Trajectory
+{
+};
+
+
+#endif
diff --git a/lwrserv/include/Trajectroy.h b/lwrserv/include/Trajectroy.h
new file mode 100644
index 0000000..6238a05
--- /dev/null
+++ b/lwrserv/include/Trajectroy.h
@@ -0,0 +1,29 @@
+#ifndef _TRAJECTORY_H_
+#define _TRAJECTORY_H_
+
+class Trajectory
+{
+    public:
+        Trajectory();
+        Trajectory(unsigned int steps);
+        Trajectory(unsigned int steps, unsigned int joints);
+        ~Trajectory();
+
+        unsigned int update();
+
+        unsigned int getSteps();
+        unsigned int getJoints();
+
+        float getJointPos(unsigned int index, unsigned int joint);
+        float getCartPos(unsigned int index, unsigned int joint);
+        float getVelocity(unsigned int index, unsigned int joint);
+        float getAcceleration(unsigned int index, unsigned int joint);
+    protected:
+        static const unsigned int defaultSteps = 100;
+        static const unsigned int defaultJoints = 1;
+
+        unsigned int steps;
+        unsigned int joints;
+};
+
+#endif