[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2013/04/08
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| 6 | // filename: TrajectoryGenerator2DCircle.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 circle trajectory in 2D
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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 "TrajectoryGenerator2DCircle.h"
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| 19 | #include "TrajectoryGenerator2DCircle_impl.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Layout.h>
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| 22 | #include <LayoutPosition.h>
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| 23 | #include <Vector2D.h>
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| 24 |
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| 25 | using std::string;
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| 26 | using namespace flair::core;
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| 27 | using namespace flair::gui;
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| 28 |
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[15] | 29 | namespace flair {
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| 30 | namespace filter {
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[7] | 31 |
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[15] | 32 | TrajectoryGenerator2DCircle::TrajectoryGenerator2DCircle(
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| 33 | const LayoutPosition *position, string name)
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| 34 | : IODevice(position->getLayout(), name) {
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| 35 | pimpl_ = new TrajectoryGenerator2DCircle_impl(this, position, name);
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| 36 | AddDataToLog(pimpl_->output);
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[7] | 37 | }
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| 38 |
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[15] | 39 | TrajectoryGenerator2DCircle::~TrajectoryGenerator2DCircle() { delete pimpl_; }
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[7] | 40 |
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[15] | 41 | bool TrajectoryGenerator2DCircle::IsRunning(void) const {
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| 42 | return pimpl_->is_running;
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[7] | 43 | }
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| 44 |
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[15] | 45 | cvmatrix *TrajectoryGenerator2DCircle::Matrix(void) const {
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| 46 | return pimpl_->output;
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[7] | 47 | }
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| 48 |
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[15] | 49 | void TrajectoryGenerator2DCircle::StartTraj(const Vector2D &start_pos,
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| 50 | float nb_lap) {
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| 51 | pimpl_->StartTraj(start_pos, nb_lap);
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[7] | 52 | }
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| 53 |
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[15] | 54 | void TrajectoryGenerator2DCircle::FinishTraj(void) { pimpl_->FinishTraj(); }
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[7] | 55 |
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[15] | 56 | void TrajectoryGenerator2DCircle::StopTraj(void) { pimpl_->is_running = false; }
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[7] | 57 |
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[15] | 58 | void TrajectoryGenerator2DCircle::GetPosition(Vector2D &point) const {
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| 59 | point.x = pimpl_->output->Value(0, 0);
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| 60 | point.y = pimpl_->output->Value(0, 1);
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[7] | 61 | }
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| 62 |
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[15] | 63 | void TrajectoryGenerator2DCircle::SetCenter(const Vector2D &value) {
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| 64 | pimpl_->pos_off = value;
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[7] | 65 | }
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| 66 |
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[15] | 67 | void TrajectoryGenerator2DCircle::GetSpeed(Vector2D &point) const {
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| 68 | point.x = pimpl_->output->Value(1, 0);
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| 69 | point.y = pimpl_->output->Value(1, 1);
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[7] | 70 | }
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| 71 |
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[15] | 72 | void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2D &value) {
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| 73 | pimpl_->vel_off = value;
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[7] | 74 | }
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| 75 |
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[15] | 76 | void TrajectoryGenerator2DCircle::Update(Time time) {
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| 77 | pimpl_->Update(time);
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| 78 | ProcessUpdate(pimpl_->output);
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[7] | 79 | }
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| 80 |
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| 81 | } // end namespace filter
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| 82 | } // end namespace flair
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