#ifndef _TRAJECTORY_H_
#define _TRAJECTORY_H_

#include "vec.h"

class Trajectory
{
    public:
        virtual unsigned int getSteps();

        virtual Vec<T, SIZE> getJointValues();
        virtual Vec<T, SIZE> getJointVelocity(unsigned int jointID);
        virtual Vec<T, SIZE> getJointAcceleration(unsigned int jointID);

        virtual Vec<T, SIZE> getCarthesianValues();
        virtual Vec<T, SIZE> getCarthesianVelocity(unsigned int jointID);
        virtual Vec<T, SIZE> getCarthesianAcceleration(unsigned int jointID);
};

class TrajectoryBangBang :: Trajectory;
#endif