#ifndef _LINPOLYTRAJECTORY_H_
#define _LINPOLYTRAJECTORY_H_
#include "Trajectroy.h"

template <unsigned SIZE>
class LinearJointTrajectory: public Trajectory<SIZE>
{
    public:

        LinearJointTrajectory(
                unsigned int steps_,
                float totalTime_,
                Vec<float,SIZE> jointMovement_);
        LinearJointTrajectory(
                unsigned int steps_,
                float totalTime_,
                Vec<float,SIZE> jointMovement_,
                Vec<float,SIZE> velocity_);
        ~LinearJointTrajectory();
    private:

    protected:
};
template <unsigned SIZE>
class LinearCartTrajectory: public Trajectory<SIZE>
{
};


#endif