linear_trajectory.h

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#ifndef LINEAR_TRAJECTORY_H_
#define LINEAR_TRAJECTORY_H_

#include <spline_smoother/spline_smoother_utils.h>

namespace spline_smoother
{
class LinearTrajectory
{
public:
  
  LinearTrajectory();
  
  bool parameterize(const trajectory_msgs::JointTrajectory& trajectory_in,
                    const std::vector<arm_navigation_msgs::JointLimits> &limits,
                    spline_smoother::SplineTrajectory& spline);
  

private:
  
  double calculateMinimumTime(const trajectory_msgs::JointTrajectoryPoint &start, 
                              const trajectory_msgs::JointTrajectoryPoint &end, 
                              const std::vector<arm_navigation_msgs::JointLimits> &limits);
  
  bool apply_limits_;
};
}

#endif /* LINEAR_TRAJECTORY_H_ */