// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/04/08
//  filename:   TrajectoryGenerator2DCircle.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class generating a circle trajectory in 2D
//
//
/*********************************************************************/

#include "TrajectoryGenerator2DCircle.h"
#include "TrajectoryGenerator2DCircle_impl.h"
#include <cvmatrix.h>
#include <Layout.h>
#include <LayoutPosition.h>
#include <Vector2D.h>

using std::string;
using namespace flair::core;
using namespace flair::gui;

namespace flair
{
namespace filter
{

TrajectoryGenerator2DCircle::TrajectoryGenerator2DCircle(const LayoutPosition* position,string name) : IODevice(position->getLayout(),name)
{
    pimpl_=new TrajectoryGenerator2DCircle_impl(this,position,name);
    AddDataToLog(pimpl_->output);
}


TrajectoryGenerator2DCircle::~TrajectoryGenerator2DCircle()
{
    delete pimpl_;
}

bool TrajectoryGenerator2DCircle::IsRunning(void) const
{
    return pimpl_->is_running;
}

cvmatrix *TrajectoryGenerator2DCircle::Matrix(void) const
{
    return pimpl_->output;
}

void TrajectoryGenerator2DCircle::StartTraj(const Vector2D &start_pos,float nb_lap)
{
    pimpl_->StartTraj(start_pos,nb_lap);
}

void TrajectoryGenerator2DCircle::FinishTraj(void)
{
    pimpl_->FinishTraj();
}

void TrajectoryGenerator2DCircle::StopTraj(void)
{
    pimpl_->is_running=false;
}

void TrajectoryGenerator2DCircle::GetPosition(Vector2D &point) const
{
    point.x=pimpl_->output->Value(0,0);
    point.y=pimpl_->output->Value(0,1);
}

void TrajectoryGenerator2DCircle::SetCenter(const Vector2D &value)
{
    pimpl_->pos_off=value;
}

void TrajectoryGenerator2DCircle::GetSpeed(Vector2D &point) const
{
    point.x=pimpl_->output->Value(1,0);
    point.y=pimpl_->output->Value(1,1);
}

void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2D &value)
{
    pimpl_->vel_off=value;
}

void TrajectoryGenerator2DCircle::Update(Time time)
{
    pimpl_->Update(time);
    ProcessUpdate(pimpl_->output);
}

} // end namespace filter
} // end namespace flair