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21 lines
584 B
21 lines
584 B
#ifndef _TRAJECTORY_H_
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#define _TRAJECTORY_H_
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#include "vec.h"
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class Trajectory
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{
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public:
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virtual unsigned int getSteps();
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virtual Vec<T, SIZE> getJointValues();
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virtual Vec<T, SIZE> getJointVelocity(unsigned int jointID);
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virtual Vec<T, SIZE> getJointAcceleration(unsigned int jointID);
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virtual Vec<T, SIZE> getCarthesianValues();
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virtual Vec<T, SIZE> getCarthesianVelocity(unsigned int jointID);
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virtual Vec<T, SIZE> getCarthesianAcceleration(unsigned int jointID);
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};
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class TrajectoryBangBang :: Trajectory;
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#endif
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