source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h@ 10

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file TrajectoryGenerator2DCircle.h
 * \brief Class generating a circle trajectory in 2D
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/04/08
 * \version 4.0
 */

#ifndef TRAJECTORYGENERATOR2DCIRCLE_H
#define TRAJECTORYGENERATOR2DCIRCLE_H

#include <IODevice.h>

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class Vector2D;
    }
    namespace gui
    {
        class LayoutPosition;
    }
}

class TrajectoryGenerator2DCircle_impl;

namespace flair
{
namespace filter
{
    /*! \class TrajectoryGenerator2DCircle
    *
    * \brief Class generating a circle trajectory in 2D
    *
    * This class generates position and velocity references, given
    * a maximum velocity and an absolute acceleration, for a circle. \n
    * When trajectory is started (StartTraj), position and velocity will increase
    * at the given acceleration untill maximum velocity is reached. \n
    * When trajectory is asked to be finished (see FinishTraj()), position
    * and velocity will decrease at the given acceleration untill null velocity is reached. \n
    * Position and velocity of the center of the circle can be manually changed
    * through SetCenter() and SetCenterSpeed().
    */
    class TrajectoryGenerator2DCircle : public core::IODevice
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a TrajectoryGenerator2DCircle at position. \n
            * The TrajectoryGenerator2DCircle will automatically be child of position->getLayout() Layout. After calling this function,
            * position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display settings
            * \param name name
            */
            TrajectoryGenerator2DCircle(const gui::LayoutPosition* position,std::string name);

            /*!
            * \brief Destructor
            *
            */
            ~TrajectoryGenerator2DCircle();

            /*!
            * \brief Start trajectory
            *
            * \param start_pos start position
            * \param nb_lap number of laps, -1 for infinite
            */
            void StartTraj(const core::Vector2D &start_pos,float nb_lap=-1);

            /*!
            * \brief Stop trajectory
            *
            * Stop abruptly the trajectory.
            */
            void StopTraj(void);

            /*!
            * \brief Finish trajectory
            *
            * Finish smoothly the trajectory.
            */
            void FinishTraj(void);

            /*!
            * \brief Set center position
            *
            * \param value center position
            */
            void SetCenter(const core::Vector2D &value);

            /*!
            * \brief Set center speed
            *
            * \param value center speed
            */
            void SetCenterSpeed(const core::Vector2D &value);

            /*!
            * \brief Update using provided datas
            *
            * Uses values specified by StartTraj(),
            * SetCenter() and SetCenterSpeed().
            *
            * \param time time of the update
            */
            void Update(core::Time time);

            /*!
            * \brief Position
            *
            * \param point returned position
            */
            void GetPosition(core::Vector2D &point) const;

            /*!
            * \brief Speed
            *
            * \param point returned speed
            */
            void GetSpeed(core::Vector2D &point) const;

            /*!
            * \brief Output matrix
            *
            * \return matrix
            */
            core::cvmatrix *Matrix(void) const;

            /*!
            * \brief Is trajectory running?
            *
            * \return true if trajectory is running
            */
            bool IsRunning(void) const;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice. Nothing to do in this IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            TrajectoryGenerator2DCircle_impl* pimpl_;

    };
} // end namespace filter
} // end namespace flair
#endif // TRAJECTORYGENERATOR2DCIRCLE_H