Trajectory.hpp

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// Algorithm details and publications: http://www.golems.org/node/1570
 
#ifndef DART_PLANNING_TRAJECTORY_HPP_
#define DART_PLANNING_TRAJECTORY_HPP_
 
#include <Eigen/Core>
 
namespace dart {
namespace planning {
 
class Trajectory
{
public:
  virtual double getDuration() const = 0;
  virtual Eigen::VectorXd getPosition(double time) const = 0;
  virtual Eigen::VectorXd getVelocity(double time) const = 0;
};
 
} // namespace planning
} // namespace dart
 
#endif // DART_PLANNING_TRAJECTORY_HPP_