source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp@ 24

Last change on this file since 24 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

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}
37
38TrajectoryGenerator1D::~TrajectoryGenerator1D() { delete pimpl_; }
39
40cvmatrix *TrajectoryGenerator1D::Matrix(void) const { return pimpl_->output; }
41
42void TrajectoryGenerator1D::StartTraj(float start_pos, float end_pos) {
43 pimpl_->StartTraj(start_pos, end_pos);
44}
45
46// revoir l'interet du stop?
47void TrajectoryGenerator1D::StopTraj(void) { pimpl_->StopTraj(); }
48
49bool TrajectoryGenerator1D::IsRunning(void) const {
50 if (pimpl_->is_started == true) {
51 if (pimpl_->is_finished == true) {
52 return false;
53 } else {
54 return true;
55 }
56 } else {
57 return false;
58 }
59}
60
61float TrajectoryGenerator1D::Position(void) const {
62 return pimpl_->output->Value(0, 0);
63}
64
65void TrajectoryGenerator1D::Reset(void) {
66 if (IsRunning() == false) {
67 pimpl_->Reset();
68 } else {
69 Err("impossible while running\n");
70 }
71}
72
73void TrajectoryGenerator1D::SetPositionOffset(float value) {
74 pimpl_->pos_off = value;
75}
76
77float TrajectoryGenerator1D::Speed(void) const {
78 return pimpl_->output->Value(1, 0);
79}
80
81void TrajectoryGenerator1D::SetSpeedOffset(float value) {
82 pimpl_->vel_off = value;
83}
84
85void TrajectoryGenerator1D::Update(Time time) {
86 pimpl_->Update(time);
87 ProcessUpdate(pimpl_->output);
88}
89
90} // end namespace filter
91} // end namespace flair
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