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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
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