| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file TrajectoryGenerator1D.h
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| 7 | * \brief Class generating a trajectory in 1D
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2011/05/01
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef TRAJECTORYGENERATOR1D_H
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| 14 | #define TRAJECTORYGENERATOR1D_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 |
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| 18 | namespace flair
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| 19 | {
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| 20 | namespace core
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| 21 | {
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| 22 | class cvmatrix;
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| 23 | }
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| 24 | namespace gui
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| 25 | {
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| 26 | class LayoutPosition;
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| 27 | }
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| 28 | }
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| 29 |
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| 30 | class TrajectoryGenerator1D_impl;
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| 31 |
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| 32 | namespace flair
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| 33 | {
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| 34 | namespace filter
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| 35 | {
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| 36 | /*! \class TrajectoryGenerator1D
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| 37 | *
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| 38 | * \brief Class generating a trajectory in 1D
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| 39 | *
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| 40 | * This class generates position and velocity references, given
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| 41 | * an absolute maximum velocity and an absolute acceleration. \n
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| 42 | * When trajectory is started (see StartTraj()), position and velocity will increase
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| 43 | * at the given acceleration. If the maximum velocity is reached,
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| 44 | * velocity will not increase anymore. Then, velocity will decrease according
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| 45 | * to the given acceleration until velocity is null and final position is reached. \n
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| 46 | * Manual inputs can be introduced using SetPositionOffset() and SetSpeedOffset().
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| 47 | *
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| 48 | */
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| 49 | class TrajectoryGenerator1D : public core::IODevice
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| 50 | {
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| 51 | public:
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| 52 | /*!
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| 53 | * \brief Constructor
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| 54 | *
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| 55 | * Construct a TrajectoryGenerator1D at given position. \n
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| 56 | * The TrajectoryGenerator1D will automatically be child of position->getLayout() Layout. After calling this function,
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| 57 | * position will be deleted as it is no longer usefull. \n
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| 58 | *
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| 59 | * \param position position to display settings
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| 60 | * \param name name
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| 61 | * \param unit unit of the position (for exemple m, deg, etc). Its only used for display on ground station.
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| 62 | */
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| 63 | TrajectoryGenerator1D(const gui::LayoutPosition* position,std::string name,std::string unit="");
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| 64 |
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| 65 | /*!
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| 66 | * \brief Destructor
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| 67 | *
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| 68 | */
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| 69 | ~TrajectoryGenerator1D();
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| 70 |
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| 71 | /*!
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| 72 | * \brief Start trajectory
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| 73 | *
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| 74 | * \param start_pos start position
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| 75 | * \param end_pos end position
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| 76 | */
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| 77 | void StartTraj(float start_pos,float end_pos);
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| 78 |
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| 79 | /*!
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| 80 | * \brief Stop trajectory
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| 81 | *
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| 82 | */
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| 83 | void StopTraj(void);
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| 84 |
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| 85 | /*!
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| 86 | * \brief Reset
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| 87 | *
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| 88 | * Reset all outputs to 0. This can be done only when IsRunning()==false.
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| 89 | *
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| 90 | */
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| 91 | void Reset(void);
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| 92 |
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| 93 | /*!
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| 94 | * \brief Is trajectory running?
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| 95 | *
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| 96 | * \return true if trajectory is running
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| 97 | */
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| 98 | bool IsRunning(void) const;
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| 99 |
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| 100 | /*!
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| 101 | * \brief Set position offset
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| 102 | *
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| 103 | * \param value position offset
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| 104 | */
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| 105 | void SetPositionOffset(float value);
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| 106 |
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| 107 | /*!
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| 108 | * \brief Set speed offset
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| 109 | *
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| 110 | * \param value speed offset
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| 111 | */
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| 112 | void SetSpeedOffset(float value);
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| 113 |
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| 114 | /*!
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| 115 | * \brief Update using provided datas
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| 116 | *
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| 117 | * Uses values specified by StartTraj(),
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| 118 | * SetPositionOffset() and SetSpeedOffset().
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| 119 | *
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| 120 | * \param time time of the update
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| 121 | */
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| 122 | void Update(core::Time time);
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| 123 |
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| 124 | /*!
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| 125 | * \brief Position
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| 126 | *
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| 127 | */
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| 128 | float Position(void) const;
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| 129 |
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| 130 | /*!
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| 131 | * \brief Speed
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| 132 | *
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| 133 | */
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| 134 | float Speed(void) const;
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| 135 |
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| 136 | /*!
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| 137 | * \brief Output matrix
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| 138 | *
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| 139 | * \return matrix
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| 140 | */
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| 141 | core::cvmatrix *Matrix(void) const;
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| 142 |
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| 143 | private:
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| 144 | /*!
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| 145 | * \brief Update using provided datas
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| 146 | *
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| 147 | * Reimplemented from IODevice. Nothing to do in this IODevice.
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| 148 | *
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| 149 | * \param data data from the parent to process
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| 150 | */
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| 151 | void UpdateFrom(const core::io_data *data){};
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| 152 |
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| 153 | TrajectoryGenerator1D_impl* pimpl_;
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| 154 | };
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| 155 | } // end namespace filter
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| 156 | } // end namespace flair
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| 157 | #endif // TRAJECTORYGENERATOR1D_H
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