Trajectory.h

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#ifndef TRAJECTORY_H_
#define TRAJECTORY_H_

class Trajectory
{
public:
    Trajectory( bool periodic = true );
    virtual ~Trajectory();

    // Executes the trajectory generator for one time step
    float project( float x0, float dt, float xf, float xdotmax, float xdot2, bool debug = false );

    float getXDot() const
    {
        return xDot_;
    }

    void setXDot( const float xDot )
    {
        xDot_ = xDot;
    }

    float getX() const
    {
        return x_;
    }

    void setX( float x0 )
    {
        x_ = x0;
    }

protected:
    bool initialized_;
    float x_;
    float xDot_;
    bool periodic_;

};

#endif /* TRAJECTORY_H_ */