#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