source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 6 years ago

filter and meta

File size: 2.1 KB
Line 
1// created: 2011/05/01
2// filename: TrajectoryGenerator1D.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: Class generating a trajectory in 1D
10//
11//
12/*********************************************************************/
13
14#include "TrajectoryGenerator1D.h"
15#include "TrajectoryGenerator1D_impl.h"
16#include <cvmatrix.h>
17#include <Layout.h>
18#include <LayoutPosition.h>
19
20using std::string;
21using namespace flair::core;
22using namespace flair::gui;
23
24namespace flair { namespace filter {
25
26TrajectoryGenerator1D::TrajectoryGenerator1D(const LayoutPosition* position,string name,string unit) : IODevice(position->getLayout(),name) {
27 pimpl_=new TrajectoryGenerator1D_impl(this,position,name,unit);
28 AddDataToLog(pimpl_->output);
29}
30
31TrajectoryGenerator1D::~TrajectoryGenerator1D() {
32 delete pimpl_;
33}
34
35cvmatrix *TrajectoryGenerator1D::Matrix(void) const {
36 return pimpl_->output;
37}
38
39void TrajectoryGenerator1D::StartTraj(float start_pos,float end_pos) {
40 pimpl_->StartTraj(start_pos,end_pos);
41}
42
43//revoir l'interet du stop?
44void TrajectoryGenerator1D::StopTraj(void) {
45 pimpl_->StopTraj();
46}
47
48bool TrajectoryGenerator1D::IsRunning(void) const {
49 if(pimpl_->is_started==true) {
50 if(pimpl_->is_finished==true) {
51 return false;
52 } else {
53 return true;
54 }
55 } else {
56 return false;
57 }
58}
59
60float TrajectoryGenerator1D::Position(void) const {
61 return pimpl_->output->Value(0,0);
62}
63
64void TrajectoryGenerator1D::Reset(void) {
65 if(IsRunning()==false) {
66 pimpl_->Reset();
67 } else {
68 Err("impossible while running\n");
69 }
70}
71
72void TrajectoryGenerator1D::SetPositionOffset(float value) {
73 pimpl_->pos_off=value;
74}
75
76float TrajectoryGenerator1D::Speed(void) const {
77 return pimpl_->output->Value(1,0);
78}
79
80void TrajectoryGenerator1D::SetSpeedOffset(float value) {
81 pimpl_->vel_off=value;
82}
83
84void TrajectoryGenerator1D::Update(Time time) {
85 pimpl_->Update(time);
86 ProcessUpdate(pimpl_->output);
87}
88
89} // end namespace filter
90} // end namespace flair
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