source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp@ 247

Last change on this file since 247 was 214, checked in by Sanahuja Guillaume, 6 years ago

matrix

File size: 2.4 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5// created: 2011/05/01
6// filename: TrajectoryGenerator1D.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class generating a trajectory in 1D
14//
15//
16/*********************************************************************/
17
18#include "TrajectoryGenerator1D.h"
19#include "TrajectoryGenerator1D_impl.h"
[214]20#include <Matrix.h>
[7]21#include <Layout.h>
22#include <LayoutPosition.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27
[15]28namespace flair {
29namespace filter {
[7]30
[15]31TrajectoryGenerator1D::TrajectoryGenerator1D(const LayoutPosition *position,
32 string name, string unit)
33 : IODevice(position->getLayout(), name) {
34 pimpl_ = new TrajectoryGenerator1D_impl(this, position, name, unit);
35 AddDataToLog(pimpl_->output);
[157]36 SetIsReady(true);
[7]37}
38
[15]39TrajectoryGenerator1D::~TrajectoryGenerator1D() { delete pimpl_; }
[7]40
[214]41Matrix *TrajectoryGenerator1D::GetMatrix(void) const { return pimpl_->output; }
[7]42
[177]43void TrajectoryGenerator1D::StartTraj(float startPosition, float endPosition,float startVelocity) {
44 pimpl_->StartTraj(startPosition,endPosition,startVelocity);
[7]45}
46
[15]47// revoir l'interet du stop?
48void TrajectoryGenerator1D::StopTraj(void) { pimpl_->StopTraj(); }
[7]49
50bool TrajectoryGenerator1D::IsRunning(void) const {
[15]51 if (pimpl_->is_started == true) {
52 if (pimpl_->is_finished == true) {
53 return false;
[7]54 } else {
[15]55 return true;
[7]56 }
[15]57 } else {
58 return false;
59 }
[7]60}
61
62float TrajectoryGenerator1D::Position(void) const {
[15]63 return pimpl_->output->Value(0, 0);
[7]64}
65
66void TrajectoryGenerator1D::Reset(void) {
[15]67 if (IsRunning() == false) {
68 pimpl_->Reset();
69 } else {
70 Err("impossible while running\n");
71 }
[7]72}
73
74void TrajectoryGenerator1D::SetPositionOffset(float value) {
[15]75 pimpl_->pos_off = value;
[7]76}
77
78float TrajectoryGenerator1D::Speed(void) const {
[15]79 return pimpl_->output->Value(1, 0);
[7]80}
81
82void TrajectoryGenerator1D::SetSpeedOffset(float value) {
[15]83 pimpl_->vel_off = value;
[7]84}
85
86void TrajectoryGenerator1D::Update(Time time) {
[15]87 pimpl_->Update(time);
88 ProcessUpdate(pimpl_->output);
[7]89}
90
[205]91float TrajectoryGenerator1D::GetPercentageOfCompletion(void) const {
92 return pimpl_->GetPercentageOfCompletion();
93}
94
[7]95} // end namespace filter
96} // end namespace flair
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