pos_vel_acc_state.h

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// Copyright (C) 2013, PAL Robotics S.L.
// Copyright (c) 2008, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef TRAJECTORY_INTERFACE_POS_VEL_ACC_STATE_H
#define TRAJECTORY_INTERFACE_POS_VEL_ACC_STATE_H

#include <vector>

namespace trajectory_interface
{

template <class ScalarType>
struct PosVelAccState
{
  typedef ScalarType Scalar;

  PosVelAccState() {}

  PosVelAccState(const typename std::vector<Scalar>::size_type size)
    : position(    std::vector<Scalar>(size, static_cast<Scalar>(0))),
      velocity(    std::vector<Scalar>(size, static_cast<Scalar>(0))),
      acceleration(std::vector<Scalar>(size, static_cast<Scalar>(0)))
  {}

  std::vector<Scalar> position;
  std::vector<Scalar> velocity;
  std::vector<Scalar> acceleration;
};

} // namespace

#endif // header guard