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34 lines
935 B
34 lines
935 B
#ifndef _LINPOLYTRAJECTORY_H_
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#define _LINPOLYTRAJECTORY_H_
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#include "Trajectroy.h"
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class LinearJointTrajectory: public Trajectory
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{
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public:
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template <class T, unsigned SIZE>
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LinearJointTrajectory(
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unsigned int steps_,
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float totalTime_,
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Vec<float,SIZE> jointMovement,
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Vec<float,SIZE> maxJointVelocityPerStep,
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Vec<float,SIZE> maxJointAccelarationPerStep);
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template <class T, unsigned SIZE>
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LinearJointTrajectory(
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unsigned int steps_,
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float totalTime_,
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Vec<float,SIZE> jointMovement,
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Vec<float,SIZE> maxJointVelocityPerStep,
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Vec<float,SIZE> maxJointAccelarationPerStep,
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Vec<float,SIZE> velocity);
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~LinearJointTrajectory();
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private:
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protected:
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};
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class LinearCartTrajectory: public Trajectory
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{
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};
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#endif
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