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25 lines
493 B
25 lines
493 B
#include <stdlib.h>
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#include "Trajectroy.h"
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#include "vec.h"
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template <class T, unsigned SIZE>
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Trajectory::Trajectory(
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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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)
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{
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steps = steps_;
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joints = SIZE;
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totalTime = totalTime_;
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nodes = (struct Trajectory::trajectoryNode* ) malloc(sizeof(struct Trajectory::trajectoryNode)*steps_);
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// unused
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(void) jointMovement;
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}
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Trajectory::~Trajectory()
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{
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free(nodes);
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}
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