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

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 2.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
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
29namespace flair {
30namespace filter {
31
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);
37}
38
39TrajectoryGenerator2DCircle::~TrajectoryGenerator2DCircle() { delete pimpl_; }
40
41bool TrajectoryGenerator2DCircle::IsRunning(void) const {
42  return pimpl_->is_running;
43}
44
45cvmatrix *TrajectoryGenerator2DCircle::Matrix(void) const {
46  return pimpl_->output;
47}
48
49void TrajectoryGenerator2DCircle::StartTraj(const Vector2D &start_pos,
50                                            float nb_lap) {
51  pimpl_->StartTraj(start_pos, nb_lap);
52}
53
54void TrajectoryGenerator2DCircle::FinishTraj(void) { pimpl_->FinishTraj(); }
55
56void TrajectoryGenerator2DCircle::StopTraj(void) { pimpl_->is_running = false; }
57
58void TrajectoryGenerator2DCircle::GetPosition(Vector2D &point) const {
59  point.x = pimpl_->output->Value(0, 0);
60  point.y = pimpl_->output->Value(0, 1);
61}
62
63void TrajectoryGenerator2DCircle::SetCenter(const Vector2D &value) {
64  pimpl_->pos_off = value;
65}
66
67void TrajectoryGenerator2DCircle::GetSpeed(Vector2D &point) const {
68  point.x = pimpl_->output->Value(1, 0);
69  point.y = pimpl_->output->Value(1, 1);
70}
71
72void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2D &value) {
73  pimpl_->vel_off = value;
74}
75
76void TrajectoryGenerator2DCircle::Update(Time time) {
77  pimpl_->Update(time);
78  ProcessUpdate(pimpl_->output);
79}
80
81} // end namespace filter
82} // end namespace flair
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