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