00001 00003 // Copyright (C) 2013, PAL Robotics S.L. 00004 // Copyright (c) 2008, Willow Garage, Inc. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright notice, 00009 // this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of PAL Robotics S.L. nor the names of its 00014 // contributors may be used to endorse or promote products derived from 00015 // this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 // POSSIBILITY OF SUCH DAMAGE. 00029 00031 00032 #ifndef TRAJECTORY_INTERFACE_POS_VEL_ACC_STATE_H 00033 #define TRAJECTORY_INTERFACE_POS_VEL_ACC_STATE_H 00034 00035 #include <vector> 00036 00037 namespace trajectory_interface 00038 { 00039 00043 template <class ScalarType> 00044 struct PosVelAccState 00045 { 00046 typedef ScalarType Scalar; 00047 00048 PosVelAccState() {} 00049 00064 PosVelAccState(const typename std::vector<Scalar>::size_type size) 00065 : position( std::vector<Scalar>(size, static_cast<Scalar>(0))), 00066 velocity( std::vector<Scalar>(size, static_cast<Scalar>(0))), 00067 acceleration(std::vector<Scalar>(size, static_cast<Scalar>(0))) 00068 {} 00069 00070 std::vector<Scalar> position; 00071 std::vector<Scalar> velocity; 00072 std::vector<Scalar> acceleration; 00073 }; 00074 00075 } // namespace 00076 00077 #endif // header guard