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Trajectory.cpp
00001 #include "Trajectory.h" 00002 Trajectory::Trajectory(){ 00003 } 00004 Trajectory::Trajectory(int dof, int sampling):pos(sampling),v(sampling),a(sampling){ 00005 TimSampling = sampling; 00006 Contsample=0; 00007 } 00008 void Trajectory::Insert(float p, float v, float a){ 00009 if(Contsample<TimSampling){ 00010 this->pos(Contsample) = p; 00011 this->v(Contsample) = v; 00012 this->a(Contsample) = a; 00013 Contsample++; 00014 } 00015 } 00016 float Trajectory::GetXref(int i){ 00017 return pos(i); 00018 } 00019 float Trajectory::GetVref(int i){ 00020 return pos(i); 00021 } 00022 float Trajectory::GetAref(int i){ 00023 return pos(i); 00024 }
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