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Trajectory.h

00001 #ifndef UNTITLED_TRAJECTORY_H
00002 #define UNTITLED_TRAJECTORY_H
00003 
00004 #include "Vector.h"
00005 #include "Matrix.h"
00006 
00007 class Trajectory {
00008     private:
00009         Vector<float> pos;
00010         Vector<float> v;
00011         Vector<float> a;
00012         int Contsample;
00013         int TimSampling;
00014     public:
00015         Trajectory();
00016         Trajectory(int dof, int sampling);
00017         void Insert(float p, float v, float a);
00018         float GetXref(int i);
00019         float GetVref(int i);
00020         float GetAref(int i);
00021 };
00022 
00023 
00024 #endif //UNTITLED_TRAJECTORY_H