Removed the static variables from some functions.

Implemented the thread in a non-static function.
Tested the execution of several CTrajectory modules at the same time.

src/examples/trajectory_test.cpp

@@ -46,16 +46,20 @@ int main(int argc, char *argv[])
 {
   CMotorTest motor;
   CEventServer *event_server=CEventServer::instance();
-  CTrajectory<CMotorTest> traj("trajectory",&motor,&CMotorTest::stop,&CMotorTest::get_current_angles,&CMotorTest::move_absolute_angles,
-                               &CMotorTest::move_relative_angles,&CMotorTest::get_num_motors);
+  CTrajectory<CMotorTest> traj1("trajectory1",&motor,&CMotorTest::stop,&CMotorTest::get_current_angles,&CMotorTest::move_absolute_angles,
+                                &CMotorTest::move_relative_angles,&CMotorTest::get_num_motors);
+  CTrajectory<CMotorTest> traj2("trajectory2",&motor,&CMotorTest::stop,&CMotorTest::get_current_angles,&CMotorTest::move_absolute_angles,
+                                &CMotorTest::move_relative_angles,&CMotorTest::get_num_motors);
 
   try{
     #ifdef _HAVE_XSD
-    traj.load_trajectory(sequence_filename);
-    traj.start_trajectory();
-    while(!event_server->event_is_set(traj.get_trajectory_complete_event_id()))
+    traj1.load_trajectory(sequence_filename);
+    traj1.start_trajectory();
+    traj2.load_trajectory(sequence_filename);
+    traj2.start_trajectory();
+    while(!event_server->event_is_set(traj1.get_trajectory_complete_event_id()))
     {
-      std::cout << traj.get_trajectory_completed_percentage() << "% of sequence completed" << std::endl;
+      std::cout << traj1.get_trajectory_completed_percentage() << "% of sequence completed" << std::endl;
       usleep(200000);
     }
     #endif

src/trajectory.cpp

 #include "trajectory.h"
-
-