1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2011/05/01
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6 | // filename: TrajectoryGenerator1D_impl.cpp
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: Class generating a trajectory in 1D
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #include "TrajectoryGenerator1D.h"
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19 | #include "TrajectoryGenerator1D_impl.h"
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20 | #include <cvmatrix.h>
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21 | #include <Layout.h>
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22 | #include <GroupBox.h>
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23 | #include <DoubleSpinBox.h>
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24 | #include <cmath>
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25 |
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26 | using std::string;
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27 | using namespace flair::core;
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28 | using namespace flair::gui;
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29 | using namespace flair::filter;
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30 |
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31 | TrajectoryGenerator1D_impl::TrajectoryGenerator1D_impl(TrajectoryGenerator1D* self,const LayoutPosition* position,string name,string unit) {
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32 | first_update=true;
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33 | is_started=false;
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34 |
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35 | //init UI
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36 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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37 | T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto:"," s",0,1,0.01);
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38 | if(unit=="") {
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39 | max_veloctity=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"velocity max (absolute):",0.,200000,1);
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40 | } else {
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41 | max_veloctity=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"velocity max (absolute):"," "+ unit+"/s",0.,200000,1);
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42 | }
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43 | if(unit=="") {
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44 | acceleration=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"acceleration (absolute):",0.,10,1,3);
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45 | } else {
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46 | acceleration=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"acceleration (absolute):"," "+unit +"/s²",0.,200000,1);
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47 | }
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48 |
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49 | Reset();
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50 |
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51 | //init matrix
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52 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,1);
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53 | desc->SetElementName(0,0,"pos");
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54 | desc->SetElementName(1,0,"vel");
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55 | output=new cvmatrix(self,desc,floatType,name);
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56 |
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57 | output->SetValue(0,0,pos);
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58 | output->SetValue(1,0,v);
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59 | }
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60 |
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61 | TrajectoryGenerator1D_impl::~TrajectoryGenerator1D_impl() {
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62 | }
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63 |
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64 | void TrajectoryGenerator1D_impl::Reset(void) {
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65 | pos=0;
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66 | v=0;
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67 | pos_off=0;
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68 | vel_off=0;
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69 | }
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70 |
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71 | void TrajectoryGenerator1D_impl::StartTraj(float start_pos,float end_pos) {
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72 | is_started=true;
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73 | is_finished=false;
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74 | first_update=true;
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75 |
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76 | //configure trajectory
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77 | end_position=end_pos;
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78 | pos=start_pos;
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79 | acc=acceleration->Value();
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80 | v=0;
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81 | if(end_position<start_pos) {
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82 | acc=-acc;
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83 | //max_veloctity=-max_veloctity;
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84 | }
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85 | }
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86 |
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87 | //revoir l'interet du stop?
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88 | void TrajectoryGenerator1D_impl::StopTraj(void) {
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89 | is_started=false;
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90 | v=0;
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91 | //output->SetValue(1,0,v);
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92 | }
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93 |
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94 | void TrajectoryGenerator1D_impl::Update(Time time) {
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95 | float delta_t;
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96 |
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97 | if(T->Value()==0) {
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98 | if(first_update==true) {
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99 | first_update=false;
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100 | previous_time=time;
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101 | output->GetMutex();
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102 | output->SetValueNoMutex(0,0,pos+pos_off);
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103 | output->SetValueNoMutex(1,0,v+vel_off);
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104 | output->ReleaseMutex();
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105 |
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106 | output->SetDataTime(time);
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107 | return;
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108 | } else {
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109 | delta_t=(float)(time-previous_time)/1000000000.;
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110 | }
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111 | } else {
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112 | delta_t=T->Value();
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113 | }
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114 | previous_time=time;
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115 |
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116 |
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117 | if(is_started==true) {
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118 | if(is_finished==false) {
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119 | v+=acc*delta_t;
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120 | if(fabs(v)>fabs(max_veloctity->Value())) {
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121 | if(v>0)
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122 | v=max_veloctity->Value();
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123 | else
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124 | v=-max_veloctity->Value();
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125 | }
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126 | pos+=v*delta_t;
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127 | if(end_position-v*v/(2*acc)<=pos && v>=0) acc=-acc;
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128 | if(end_position-v*v/(2*acc)>=pos && v<0) acc=-acc;
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129 | if(pos>=end_position && v>=0) is_finished=true;
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130 | if(pos<=end_position && v<0) is_finished=true;
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131 | }
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132 | //else
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133 | if(is_finished==true) {
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134 | v=0;
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135 | pos=end_position;
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136 | }
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137 | }
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138 |
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139 | //on prend une fois pour toute les mutex et on fait des accès directs
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140 | output->GetMutex();
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141 | output->SetValueNoMutex(0,0,pos+pos_off);
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142 | output->SetValueNoMutex(1,0,v+vel_off);
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143 | output->ReleaseMutex();
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144 |
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145 | output->SetDataTime(time);
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146 | }
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