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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