source: flair-dev/trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 3.5 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file TrajectoryGenerator2DCircle.h
7 * \brief Class generating a circle trajectory in 2D
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/04/08
10 * \version 4.0
11 */
12
13#ifndef TRAJECTORYGENERATOR2DCIRCLE_H
14#define TRAJECTORYGENERATOR2DCIRCLE_H
15
16#include <IODevice.h>
17#include <Vector2D.h>
18
19namespace flair {
20namespace core {
21class Matrix;
22}
23namespace gui {
24class LayoutPosition;
25}
26}
27
28class TrajectoryGenerator2DCircle_impl;
29
30namespace flair {
31namespace filter {
32/*! \class TrajectoryGenerator2DCircle
33*
34* \brief Class generating a circle trajectory in 2D
35*
36* This class generates position and velocity references, given
37* a maximum velocity and an absolute acceleration, for a circle. \n
38* When trajectory is started (StartTraj), position and velocity will increase
39* at the given acceleration untill maximum velocity is reached. \n
40* When trajectory is asked to be finished (see FinishTraj()), position
41* and velocity will decrease at the given acceleration untill null velocity is
42*reached. \n
43* Position and velocity of the center of the circle can be manually changed
44* through SetCenter() and SetCenterSpeed().
45*/
46class TrajectoryGenerator2DCircle : public core::IODevice {
47public:
48  /*!
49  * \brief Constructor
50  *
51  * Construct a TrajectoryGenerator2DCircle at position. \n
52  * The TrajectoryGenerator2DCircle will automatically be child of
53  *position->getLayout() Layout. After calling this function,
54  * position will be deleted as it is no longer usefull. \n
55  *
56  * \param position position to display settings
57  * \param name name
58  */
59  TrajectoryGenerator2DCircle(const gui::LayoutPosition *position,
60                              std::string name);
61
62  /*!
63  * \brief Destructor
64  *
65  */
66  ~TrajectoryGenerator2DCircle();
67
68  /*!
69  * \brief Start trajectory
70  *
71  * \param start_pos start position
72  * \param nb_lap number of laps, -1 for infinite
73  */
74  void StartTraj(const core::Vector2Df &start_pos, float nb_lap = -1);
75
76  /*!
77  * \brief Stop trajectory
78  *
79  * Stop abruptly the trajectory.
80  */
81  void StopTraj(void);
82
83  /*!
84  * \brief Finish trajectory
85  *
86  * Finish smoothly the trajectory.
87  */
88  void FinishTraj(void);
89
90  /*!
91  * \brief Set center position
92  *
93  * \param value center position
94  */
95  void SetCenter(const core::Vector2Df &value);
96
97  /*!
98  * \brief Set center speed
99  *
100  * \param value center speed
101  */
102  void SetCenterSpeed(const core::Vector2Df &value);
103
104  /*!
105  * \brief Update using provided datas
106  *
107  * Uses values specified by StartTraj(),
108  * SetCenter() and SetCenterSpeed().
109  *
110  * \param time time of the update
111  */
112  void Update(core::Time time);
113
114  /*!
115  * \brief Position
116  *
117  * \param point returned position
118  */
119  void GetPosition(core::Vector2Df &point) const;
120
121  /*!
122  * \brief Speed
123  *
124  * \param point returned speed
125  */
126  void GetSpeed(core::Vector2Df &point) const;
127
128  /*!
129  * \brief Output matrix
130  *
131  * \return matrix
132  */
133  core::Matrix *GetMatrix(void) const;
134
135  /*!
136  * \brief Is trajectory running?
137  *
138  * \return true if trajectory is running
139  */
140  bool IsRunning(void) const;
141
142private:
143  /*!
144  * \brief Update using provided datas
145  *
146  * Reimplemented from IODevice. Nothing to do in this IODevice.
147  *
148  * \param data data from the parent to process
149  */
150  void UpdateFrom(const core::io_data *data){};
151
152  TrajectoryGenerator2DCircle_impl *pimpl_;
153};
154} // end namespace filter
155} // end namespace flair
156#endif // TRAJECTORYGENERATOR2DCIRCLE_H
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