trajectory_generation.h

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#ifndef TRAJECTORY_GENERATION_H
#define TRAJECTORY_GENERATION_H

#include <kdl/velocityprofile.hpp>
#include <trajectory_msgs/JointTrajectory.h>

namespace trajectory{
class TrajectoryGenerator
{
public:
  TrajectoryGenerator(double max_vel, double max_acc, unsigned int size);
  ~TrajectoryGenerator();

  void generate(const trajectory_msgs::JointTrajectory& traj_in, trajectory_msgs::JointTrajectory& traj_out);

private:
  std::vector<KDL::VelocityProfile*> generators_;

};
}
#endif