source: flair-dev/trunk/include/FlairFilter/TrajectoryGenerator1D.h @ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file TrajectoryGenerator1D.h
 * \brief Class generating a trajectory in 1D
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/05/01
 * \version 4.0
 */

#ifndef TRAJECTORYGENERATOR1D_H
#define TRAJECTORYGENERATOR1D_H

#include <IODevice.h>

namespace flair
{
    namespace core
    {
        class cvmatrix;
    }
    namespace gui
    {
        class LayoutPosition;
    }
}

class TrajectoryGenerator1D_impl;

namespace flair
{
namespace filter
{
    /*! \class TrajectoryGenerator1D
    *
    * \brief Class generating a trajectory in 1D
    *
    * This class generates position and velocity references, given
    * an absolute maximum velocity and an absolute acceleration. \n
    * When trajectory is started (see StartTraj()), position and velocity will increase
    * at the given acceleration. If the maximum velocity is reached,
    * velocity will not increase anymore. Then, velocity will decrease according
    * to the given acceleration until velocity is null and final position is reached. \n
    * Manual inputs can be introduced using SetPositionOffset() and SetSpeedOffset().
    *
    */
    class TrajectoryGenerator1D : public core::IODevice
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a TrajectoryGenerator1D at given position. \n
            * The TrajectoryGenerator1D will automatically be child of position->getLayout() Layout. After calling this function,
            * position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display settings
            * \param name name
            * \param unit unit of the position (for exemple m, deg, etc). Its only used for display on ground station.
            */
            TrajectoryGenerator1D(const gui::LayoutPosition* position,std::string name,std::string unit="");

            /*!
            * \brief Destructor
            *
            */
            ~TrajectoryGenerator1D();

            /*!
            * \brief Start trajectory
            *
            * \param start_pos start position
            * \param end_pos end position
            */
            void StartTraj(float start_pos,float end_pos);

            /*!
            * \brief Stop trajectory
            *
            */
            void StopTraj(void);

            /*!
            * \brief Reset
            *
            * Reset all outputs to 0. This can be done only when IsRunning()==false.
            *
            */
            void Reset(void);

            /*!
            * \brief Is trajectory running?
            *
            * \return true if trajectory is running
            */
            bool IsRunning(void) const;

            /*!
            * \brief Set position offset
            *
            * \param value position offset
            */
            void SetPositionOffset(float value);

            /*!
            * \brief Set speed offset
            *
            * \param value speed offset
            */
            void SetSpeedOffset(float value);

            /*!
            * \brief Update using provided datas
            *
            * Uses values specified by StartTraj(),
            * SetPositionOffset() and SetSpeedOffset().
            *
            * \param time time of the update
            */
            void Update(core::Time time);

            /*!
            * \brief Position
            *
            */
            float Position(void) const;

            /*!
            * \brief Speed
            *
            */
            float Speed(void) const;

            /*!
            * \brief Output matrix
            *
            * \return matrix
            */
            core::cvmatrix *Matrix(void) const;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice. Nothing to do in this IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            TrajectoryGenerator1D_impl* pimpl_;
    };
} // end namespace filter
} // end namespace flair
#endif // TRAJECTORYGENERATOR1D_H