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107  <div class="headertitle">
108<div class="title">TrajectoryGenerator2DCircle.h</div>  </div>
109</div><!--header-->
110<div class="contents">
111<a href="_trajectory_generator2_d_circle_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 TRAJECTORYGENERATOR2DCIRCLE_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#define TRAJECTORYGENERATOR2DCIRCLE_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;<span class="preprocessor">#include &lt;<a class="code" href="_vector2_d_8h.html">Vector2D.h</a>&gt;</span></div>
120<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
121<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
122<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span>core {</div>
123<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">class </span>Matrix;</div>
124<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;}</div>
125<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span>gui {</div>
126<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">class </span>LayoutPosition;</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;</div>
130<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">class </span>TrajectoryGenerator2DCircle_impl;</div>
131<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
132<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
133<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">namespace </span>filter {</div>
134<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html">   46</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html">TrajectoryGenerator2DCircle</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
135<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">public</span>:</div>
136<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a103a8785df6c651962d71e5dfa937550">TrajectoryGenerator2DCircle</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position,</div>
137<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                              std::string name);</div>
138<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
139<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#ae669ea580ced854d4156ad4ecb7107de">~TrajectoryGenerator2DCircle</a>();</div>
140<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
141<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a637ce1ebabfb653a493314f707fa3ae4">StartTraj</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_vector2_d.html">core::Vector2Df</a> &amp;start_pos, <span class="keywordtype">float</span> nb_lap = -1);</div>
142<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
143<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#afa7fb1b5ce2b0036b2eae7c1f3f27fb1">StopTraj</a>(<span class="keywordtype">void</span>);</div>
144<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div>
145<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#acad5ff3e2079054372a276e34c08fc2a">FinishTraj</a>(<span class="keywordtype">void</span>);</div>
146<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div>
147<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a3e99a6f66622cbf661c46e2bf65b70dc">SetCenter</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_vector2_d.html">core::Vector2Df</a> &amp;value);</div>
148<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div>
149<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#add30dea61dd67cf2cb2457d28fbad35c">SetCenterSpeed</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_vector2_d.html">core::Vector2Df</a> &amp;value);</div>
150<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div>
151<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_generator2_d_circle.html#ab4c33fe719831488ce56b833c31dd426">Update</a>(<a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> time);</div>
152<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div>
153<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#ae39218d67b655176c2d9b6679702c9c7">GetPosition</a>(<a class="code" href="classflair_1_1core_1_1_vector2_d.html">core::Vector2Df</a> &amp;point) <span class="keyword">const</span>;</div>
154<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div>
155<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a928d70f190300eb5a545940d2f5417be">GetSpeed</a>(<a class="code" href="classflair_1_1core_1_1_vector2_d.html">core::Vector2Df</a> &amp;point) <span class="keyword">const</span>;</div>
156<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div>
157<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a> *<a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a11456b42e6c4f47e289af0997d85f020">GetMatrix</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
158<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div>
159<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#aed8b6a1585bfdb6e65dcf7324a05f9e8">IsRunning</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
160<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div>
161<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">private</span>:</div>
162<div class="line"><a name="l00150"></a><span class="lineno">  150</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>
163<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
164<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  TrajectoryGenerator2DCircle_impl *pimpl_;</div>
165<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;};</div>
166<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;} <span class="comment">// end namespace filter</span></div>
167<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;} <span class="comment">// end namespace flair</span></div>
168<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">#endif // TRAJECTORYGENERATOR2DCIRCLE_H</span></div>
169<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:94</div></div>
170<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:45</div></div>
171<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>
172<div class="ttc" id="classflair_1_1core_1_1_vector2_d_html"><div class="ttname"><a href="classflair_1_1core_1_1_vector2_d.html">flair::core::Vector2D</a></div><div class="ttdoc">Class defining a 2D vector. </div><div class="ttdef"><b>Definition:</b> Vector2D.h:24</div></div>
173<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:55</div></div>
174<div class="ttc" id="_vector2_d_8h_html"><div class="ttname"><a href="_vector2_d_8h.html">Vector2D.h</a></div><div class="ttdoc">Class defining a 2D vector. </div></div>
175<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_a3e99a6f66622cbf661c46e2bf65b70dc"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a3e99a6f66622cbf661c46e2bf65b70dc">flair::filter::TrajectoryGenerator2DCircle::SetCenter</a></div><div class="ttdeci">void SetCenter(const core::Vector2Df &amp;value)</div><div class="ttdoc">Set center position. </div></div>
176<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>
177<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_afa7fb1b5ce2b0036b2eae7c1f3f27fb1"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#afa7fb1b5ce2b0036b2eae7c1f3f27fb1">flair::filter::TrajectoryGenerator2DCircle::StopTraj</a></div><div class="ttdeci">void StopTraj(void)</div><div class="ttdoc">Stop trajectory. </div></div>
178<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_a637ce1ebabfb653a493314f707fa3ae4"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a637ce1ebabfb653a493314f707fa3ae4">flair::filter::TrajectoryGenerator2DCircle::StartTraj</a></div><div class="ttdeci">void StartTraj(const core::Vector2Df &amp;start_pos, float nb_lap=-1)</div><div class="ttdoc">Start trajectory. </div></div>
179<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html">flair::filter::TrajectoryGenerator2DCircle</a></div><div class="ttdoc">Class generating a circle trajectory in 2D. </div><div class="ttdef"><b>Definition:</b> TrajectoryGenerator2DCircle.h:46</div></div>
180<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_a103a8785df6c651962d71e5dfa937550"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a103a8785df6c651962d71e5dfa937550">flair::filter::TrajectoryGenerator2DCircle::TrajectoryGenerator2DCircle</a></div><div class="ttdeci">TrajectoryGenerator2DCircle(const gui::LayoutPosition *position, std::string name)</div><div class="ttdoc">Constructor. </div></div>
181<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_ae39218d67b655176c2d9b6679702c9c7"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#ae39218d67b655176c2d9b6679702c9c7">flair::filter::TrajectoryGenerator2DCircle::GetPosition</a></div><div class="ttdeci">void GetPosition(core::Vector2Df &amp;point) const </div><div class="ttdoc">Position. </div></div>
182<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_a11456b42e6c4f47e289af0997d85f020"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a11456b42e6c4f47e289af0997d85f020">flair::filter::TrajectoryGenerator2DCircle::GetMatrix</a></div><div class="ttdeci">core::Matrix * GetMatrix(void) const </div><div class="ttdoc">Output matrix. </div></div>
183<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_a928d70f190300eb5a545940d2f5417be"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#a928d70f190300eb5a545940d2f5417be">flair::filter::TrajectoryGenerator2DCircle::GetSpeed</a></div><div class="ttdeci">void GetSpeed(core::Vector2Df &amp;point) const </div><div class="ttdoc">Speed. </div></div>
184<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_aed8b6a1585bfdb6e65dcf7324a05f9e8"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#aed8b6a1585bfdb6e65dcf7324a05f9e8">flair::filter::TrajectoryGenerator2DCircle::IsRunning</a></div><div class="ttdeci">bool IsRunning(void) const </div><div class="ttdoc">Is trajectory running? </div></div>
185<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_ae669ea580ced854d4156ad4ecb7107de"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#ae669ea580ced854d4156ad4ecb7107de">flair::filter::TrajectoryGenerator2DCircle::~TrajectoryGenerator2DCircle</a></div><div class="ttdeci">~TrajectoryGenerator2DCircle()</div><div class="ttdoc">Destructor. </div></div>
186<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_ab4c33fe719831488ce56b833c31dd426"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#ab4c33fe719831488ce56b833c31dd426">flair::filter::TrajectoryGenerator2DCircle::Update</a></div><div class="ttdeci">void Update(core::Time time)</div><div class="ttdoc">Update using provided datas. </div></div>
187<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>
188<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_acad5ff3e2079054372a276e34c08fc2a"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#acad5ff3e2079054372a276e34c08fc2a">flair::filter::TrajectoryGenerator2DCircle::FinishTraj</a></div><div class="ttdeci">void FinishTraj(void)</div><div class="ttdoc">Finish trajectory. </div></div>
189<div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator2_d_circle_html_add30dea61dd67cf2cb2457d28fbad35c"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator2_d_circle.html#add30dea61dd67cf2cb2457d28fbad35c">flair::filter::TrajectoryGenerator2DCircle::SetCenterSpeed</a></div><div class="ttdeci">void SetCenterSpeed(const core::Vector2Df &amp;value)</div><div class="ttdoc">Set center speed. </div></div>
190<div class="ttc" id="classflair_1_1core_1_1_matrix_html"><div class="ttname"><a href="classflair_1_1core_1_1_matrix.html">flair::core::Matrix</a></div><div class="ttdoc">Class defining a matrix. </div><div class="ttdef"><b>Definition:</b> Matrix.h:31</div></div>
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