source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp @ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 4 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 2.3 KB
RevLine 
[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);
[157]37  SetIsReady(true);
[7]38}
39
[15]40TrajectoryGenerator2DCircle::~TrajectoryGenerator2DCircle() { delete pimpl_; }
[7]41
[15]42bool TrajectoryGenerator2DCircle::IsRunning(void) const {
43  return pimpl_->is_running;
[7]44}
45
[15]46cvmatrix *TrajectoryGenerator2DCircle::Matrix(void) const {
47  return pimpl_->output;
[7]48}
49
[15]50void TrajectoryGenerator2DCircle::StartTraj(const Vector2D &start_pos,
51                                            float nb_lap) {
52  pimpl_->StartTraj(start_pos, nb_lap);
[7]53}
54
[15]55void TrajectoryGenerator2DCircle::FinishTraj(void) { pimpl_->FinishTraj(); }
[7]56
[15]57void TrajectoryGenerator2DCircle::StopTraj(void) { pimpl_->is_running = false; }
[7]58
[15]59void TrajectoryGenerator2DCircle::GetPosition(Vector2D &point) const {
60  point.x = pimpl_->output->Value(0, 0);
61  point.y = pimpl_->output->Value(0, 1);
[7]62}
63
[15]64void TrajectoryGenerator2DCircle::SetCenter(const Vector2D &value) {
65  pimpl_->pos_off = value;
[7]66}
67
[15]68void TrajectoryGenerator2DCircle::GetSpeed(Vector2D &point) const {
69  point.x = pimpl_->output->Value(1, 0);
70  point.y = pimpl_->output->Value(1, 1);
[7]71}
72
[15]73void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2D &value) {
74  pimpl_->vel_off = value;
[7]75}
76
[15]77void TrajectoryGenerator2DCircle::Update(Time time) {
78  pimpl_->Update(time);
79  ProcessUpdate(pimpl_->output);
[7]80}
81
82} // end namespace filter
83} // end namespace flair
Note: See TracBrowser for help on using the repository browser.