source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp@ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 6 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 2.2 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// 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 {
29namespace filter {
30
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);
36 SetIsReady(true);
37}
38
39TrajectoryGenerator1D::~TrajectoryGenerator1D() { delete pimpl_; }
40
41cvmatrix *TrajectoryGenerator1D::Matrix(void) const { return pimpl_->output; }
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) { pimpl_->StopTraj(); }
49
50bool TrajectoryGenerator1D::IsRunning(void) const {
51 if (pimpl_->is_started == true) {
52 if (pimpl_->is_finished == true) {
53 return false;
54 } else {
55 return true;
56 }
57 } else {
58 return false;
59 }
60}
61
62float TrajectoryGenerator1D::Position(void) const {
63 return pimpl_->output->Value(0, 0);
64}
65
66void TrajectoryGenerator1D::Reset(void) {
67 if (IsRunning() == false) {
68 pimpl_->Reset();
69 } else {
70 Err("impossible while running\n");
71 }
72}
73
74void TrajectoryGenerator1D::SetPositionOffset(float value) {
75 pimpl_->pos_off = value;
76}
77
78float TrajectoryGenerator1D::Speed(void) const {
79 return pimpl_->output->Value(1, 0);
80}
81
82void TrajectoryGenerator1D::SetSpeedOffset(float value) {
83 pimpl_->vel_off = value;
84}
85
86void TrajectoryGenerator1D::Update(Time time) {
87 pimpl_->Update(time);
88 ProcessUpdate(pimpl_->output);
89}
90
91} // end namespace filter
92} // end namespace flair
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