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106<div class="header">
107  <div class="headertitle">
108<div class="title">TrajectoryGenerator1D.h</div>  </div>
109</div><!--header-->
110<div class="contents">
111<a href="_trajectory_generator1_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef TRAJECTORYGENERATOR1D_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#define TRAJECTORYGENERATOR1D_H</span></div>
117<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div>
118<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
[23]120<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
[14]121<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span>core {</div>
122<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
123<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div>
124<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">namespace </span>gui {</div>
125<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>LayoutPosition;</div>
126<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div>
127<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;}</div>
128<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
129<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">class </span>TrajectoryGenerator1D_impl;</div>
130<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div>
[23]131<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
[14]132<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span>filter {</div>
133<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">   47</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">TrajectoryGenerator1D</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
134<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">public</span>:</div>
135<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a27ec122c93e06838155d35541cd91ece">TrajectoryGenerator1D</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position, std::string name,</div>
136<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                        std::string unit = <span class="stringliteral">&quot;&quot;</span>);</div>
137<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div>
138<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a90da7cbae745b5a2a8e52641f4b1d481">~TrajectoryGenerator1D</a>();</div>
139<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div>
140<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#ab682c3574b7a050bd65475ce00d03a16">StartTraj</a>(<span class="keywordtype">float</span> start_pos, <span class="keywordtype">float</span> end_pos);</div>
141<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div>
142<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a28cc21dac02612396c4be5af97c87b2b">StopTraj</a>(<span class="keywordtype">void</span>);</div>
143<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div>
144<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#aafcba1bfa8ff1efb1ac8b321799ba859">Reset</a>(<span class="keywordtype">void</span>);</div>
145<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div>
146<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a1bae2d6c79641e21fba1c6c02424f7a2">IsRunning</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
147<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div>
148<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a81d60661d67c3c01a357e14489b3e59e">SetPositionOffset</a>(<span class="keywordtype">float</span> value);</div>
149<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div>
150<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a58f86c717fed6e84b22684e881837d2b">SetSpeedOffset</a>(<span class="keywordtype">float</span> value);</div>
151<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div>
152<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a6003a11baad8940a0eae6c8533b1fd4f">Update</a>(<a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> time);</div>
153<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div>
154<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#af6af3476756c395c0903aea16f6df452">Position</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
155<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div>
156<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a3fbfb99d8a470b1d17250a8fa0de2c6d">Speed</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
157<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div>
158<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a08b6a9f75debf354d549716f05e6539a">Matrix</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
159<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
160<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">private</span>:</div>
161<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data){};</div>
162<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div>
163<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  TrajectoryGenerator1D_impl *pimpl_;</div>
164<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;};</div>
165<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;} <span class="comment">// end namespace filter</span></div>
166<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;} <span class="comment">// end namespace flair</span></div>
167<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="preprocessor">#endif // TRAJECTORYGENERATOR1D_H</span></div>
168<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:77</div></div>
169<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:44</div></div>
[23]170<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
[14]171<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
172<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a08b6a9f75debf354d549716f05e6539a"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a08b6a9f75debf354d549716f05e6539a">flair::filter::TrajectoryGenerator1D::Matrix</a></div><div class="ttdeci">core::cvmatrix * Matrix(void) const </div><div class="ttdoc">Output matrix. </div></div>
173<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a90da7cbae745b5a2a8e52641f4b1d481"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a90da7cbae745b5a2a8e52641f4b1d481">flair::filter::TrajectoryGenerator1D::~TrajectoryGenerator1D</a></div><div class="ttdeci">~TrajectoryGenerator1D()</div><div class="ttdoc">Destructor. </div></div>
174<div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:49</div></div>
175<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
176<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html">flair::filter::TrajectoryGenerator1D</a></div><div class="ttdoc">Class generating a trajectory in 1D. </div><div class="ttdef"><b>Definition:</b> TrajectoryGenerator1D.h:47</div></div>
177<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_ab682c3574b7a050bd65475ce00d03a16"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#ab682c3574b7a050bd65475ce00d03a16">flair::filter::TrajectoryGenerator1D::StartTraj</a></div><div class="ttdeci">void StartTraj(float start_pos, float end_pos)</div><div class="ttdoc">Start trajectory. </div></div>
178<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a3fbfb99d8a470b1d17250a8fa0de2c6d"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a3fbfb99d8a470b1d17250a8fa0de2c6d">flair::filter::TrajectoryGenerator1D::Speed</a></div><div class="ttdeci">float Speed(void) const </div><div class="ttdoc">Speed. </div></div>
179<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_af6af3476756c395c0903aea16f6df452"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#af6af3476756c395c0903aea16f6df452">flair::filter::TrajectoryGenerator1D::Position</a></div><div class="ttdeci">float Position(void) const </div><div class="ttdoc">Position. </div></div>
180<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a81d60661d67c3c01a357e14489b3e59e"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a81d60661d67c3c01a357e14489b3e59e">flair::filter::TrajectoryGenerator1D::SetPositionOffset</a></div><div class="ttdeci">void SetPositionOffset(float value)</div><div class="ttdoc">Set position offset. </div></div>
181<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a27ec122c93e06838155d35541cd91ece"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a27ec122c93e06838155d35541cd91ece">flair::filter::TrajectoryGenerator1D::TrajectoryGenerator1D</a></div><div class="ttdeci">TrajectoryGenerator1D(const gui::LayoutPosition *position, std::string name, std::string unit=&quot;&quot;)</div><div class="ttdoc">Constructor. </div></div>
182<div class="ttc" id="classflair_1_1gui_1_1_layout_position_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout_position.html">flair::gui::LayoutPosition</a></div><div class="ttdoc">Class to define a position in a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> LayoutPosition.h:28</div></div>
183<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a58f86c717fed6e84b22684e881837d2b"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a58f86c717fed6e84b22684e881837d2b">flair::filter::TrajectoryGenerator1D::SetSpeedOffset</a></div><div class="ttdeci">void SetSpeedOffset(float value)</div><div class="ttdoc">Set speed offset. </div></div>
184<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a28cc21dac02612396c4be5af97c87b2b"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a28cc21dac02612396c4be5af97c87b2b">flair::filter::TrajectoryGenerator1D::StopTraj</a></div><div class="ttdeci">void StopTraj(void)</div><div class="ttdoc">Stop trajectory. </div></div>
185<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a1bae2d6c79641e21fba1c6c02424f7a2"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a1bae2d6c79641e21fba1c6c02424f7a2">flair::filter::TrajectoryGenerator1D::IsRunning</a></div><div class="ttdeci">bool IsRunning(void) const </div><div class="ttdoc">Is trajectory running? </div></div>
186<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_aafcba1bfa8ff1efb1ac8b321799ba859"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#aafcba1bfa8ff1efb1ac8b321799ba859">flair::filter::TrajectoryGenerator1D::Reset</a></div><div class="ttdeci">void Reset(void)</div><div class="ttdoc">Reset. </div></div>
187<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html_a6003a11baad8940a0eae6c8533b1fd4f"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a6003a11baad8940a0eae6c8533b1fd4f">flair::filter::TrajectoryGenerator1D::Update</a></div><div class="ttdeci">void Update(core::Time time)</div><div class="ttdoc">Update using provided datas. </div></div>
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