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30 lines
680 B
30 lines
680 B
#ifndef _LINPOLYTRAJECTORY_H_
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#define _LINPOLYTRAJECTORY_H_
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#include "Trajectroy.h"
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template <unsigned SIZE>
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class LinearJointTrajectory: public Trajectory<SIZE>
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{
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public:
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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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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> velocity_);
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~LinearJointTrajectory();
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private:
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protected:
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};
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template <unsigned SIZE>
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class LinearCartTrajectory: public Trajectory<SIZE>
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{
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};
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#endif
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