#include <stdlib.h>
#include "Trajectroy.h"
#include "vec.h"

template <class T, unsigned SIZE> 
Trajectory::Trajectory(
        unsigned int steps_,
        float totalTime_,
        Vec<float,SIZE> jointMovement
        )
{
    steps = steps_;
    joints = SIZE;
    totalTime = totalTime_;

    nodes = (struct Trajectory::trajectoryNode* ) malloc(sizeof(struct Trajectory::trajectoryNode)*steps_);

    // unused
    (void) jointMovement;
}

Trajectory::~Trajectory()
{
    free(nodes);
}