}
res = new SCurve(curTime, curPos, curSpeed, destPos, destSpeed, Dmax, Amax, Vmax);
if (res.selfValidate()) {
return res;
}
res = new DSCurve(curTime, curPos, curSpeed, destPos, destSpeed, Dmax, Amax, Vmax);
if (res.selfValidate()) {
return res;
}
res = new DLD(curTime, curPos, curSpeed, destPos, destSpeed, Dmax, Amax, Vmax);
if (res.selfValidate()) {