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29 lines
787 B
29 lines
787 B
#ifndef _TRAJECTORY_H_
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#define _TRAJECTORY_H_
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class Trajectory
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{
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public:
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Trajectory();
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Trajectory(unsigned int steps);
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Trajectory(unsigned int steps, unsigned int joints);
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~Trajectory();
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unsigned int update();
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unsigned int getSteps();
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unsigned int getJoints();
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float getJointPos(unsigned int index, unsigned int joint);
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float getCartPos(unsigned int index, unsigned int joint);
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float getVelocity(unsigned int index, unsigned int joint);
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float getAcceleration(unsigned int index, unsigned int joint);
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protected:
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static const unsigned int defaultSteps = 100;
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static const unsigned int defaultJoints = 1;
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unsigned int steps;
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unsigned int joints;
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};
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#endif
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