source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp @ 15

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

sources reformatted with flair-format-dir script

File size: 2.2 KB
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[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5//  created:    2013/04/08
6//  filename:   TrajectoryGenerator2DCircle.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class generating a circle trajectory in 2D
14//
15//
16/*********************************************************************/
17
18#include "TrajectoryGenerator2DCircle.h"
19#include "TrajectoryGenerator2DCircle_impl.h"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <LayoutPosition.h>
23#include <Vector2D.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28
[15]29namespace flair {
30namespace filter {
[7]31
[15]32TrajectoryGenerator2DCircle::TrajectoryGenerator2DCircle(
33    const LayoutPosition *position, string name)
34    : IODevice(position->getLayout(), name) {
35  pimpl_ = new TrajectoryGenerator2DCircle_impl(this, position, name);
36  AddDataToLog(pimpl_->output);
[7]37}
38
[15]39TrajectoryGenerator2DCircle::~TrajectoryGenerator2DCircle() { delete pimpl_; }
[7]40
[15]41bool TrajectoryGenerator2DCircle::IsRunning(void) const {
42  return pimpl_->is_running;
[7]43}
44
[15]45cvmatrix *TrajectoryGenerator2DCircle::Matrix(void) const {
46  return pimpl_->output;
[7]47}
48
[15]49void TrajectoryGenerator2DCircle::StartTraj(const Vector2D &start_pos,
50                                            float nb_lap) {
51  pimpl_->StartTraj(start_pos, nb_lap);
[7]52}
53
[15]54void TrajectoryGenerator2DCircle::FinishTraj(void) { pimpl_->FinishTraj(); }
[7]55
[15]56void TrajectoryGenerator2DCircle::StopTraj(void) { pimpl_->is_running = false; }
[7]57
[15]58void TrajectoryGenerator2DCircle::GetPosition(Vector2D &point) const {
59  point.x = pimpl_->output->Value(0, 0);
60  point.y = pimpl_->output->Value(0, 1);
[7]61}
62
[15]63void TrajectoryGenerator2DCircle::SetCenter(const Vector2D &value) {
64  pimpl_->pos_off = value;
[7]65}
66
[15]67void TrajectoryGenerator2DCircle::GetSpeed(Vector2D &point) const {
68  point.x = pimpl_->output->Value(1, 0);
69  point.y = pimpl_->output->Value(1, 1);
[7]70}
71
[15]72void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2D &value) {
73  pimpl_->vel_off = value;
[7]74}
75
[15]76void TrajectoryGenerator2DCircle::Update(Time time) {
77  pimpl_->Update(time);
78  ProcessUpdate(pimpl_->output);
[7]79}
80
81} // end namespace filter
82} // end namespace flair
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