source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 7 years ago

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File size: 2.2 KB
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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// 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"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <LayoutPosition.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27
28namespace flair { namespace filter {
29
30TrajectoryGenerator1D::TrajectoryGenerator1D(const LayoutPosition* position,string name,string unit) : IODevice(position->getLayout(),name) {
31 pimpl_=new TrajectoryGenerator1D_impl(this,position,name,unit);
32 AddDataToLog(pimpl_->output);
33}
34
35TrajectoryGenerator1D::~TrajectoryGenerator1D() {
36 delete pimpl_;
37}
38
39cvmatrix *TrajectoryGenerator1D::Matrix(void) const {
40 return pimpl_->output;
41}
42
43void TrajectoryGenerator1D::StartTraj(float start_pos,float end_pos) {
44 pimpl_->StartTraj(start_pos,end_pos);
45}
46
47//revoir l'interet du stop?
48void TrajectoryGenerator1D::StopTraj(void) {
49 pimpl_->StopTraj();
50}
51
52bool TrajectoryGenerator1D::IsRunning(void) const {
53 if(pimpl_->is_started==true) {
54 if(pimpl_->is_finished==true) {
55 return false;
56 } else {
57 return true;
58 }
59 } else {
60 return false;
61 }
62}
63
64float TrajectoryGenerator1D::Position(void) const {
65 return pimpl_->output->Value(0,0);
66}
67
68void TrajectoryGenerator1D::Reset(void) {
69 if(IsRunning()==false) {
70 pimpl_->Reset();
71 } else {
72 Err("impossible while running\n");
73 }
74}
75
76void TrajectoryGenerator1D::SetPositionOffset(float value) {
77 pimpl_->pos_off=value;
78}
79
80float TrajectoryGenerator1D::Speed(void) const {
81 return pimpl_->output->Value(1,0);
82}
83
84void TrajectoryGenerator1D::SetSpeedOffset(float value) {
85 pimpl_->vel_off=value;
86}
87
88void TrajectoryGenerator1D::Update(Time time) {
89 pimpl_->Update(time);
90 ProcessUpdate(pimpl_->output);
91}
92
93} // end namespace filter
94} // end namespace flair
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