source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h@ 214

Last change on this file since 214 was 214, checked in by Sanahuja Guillaume, 4 years ago

matrix

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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/*!
6 * \file TrajectoryGenerator2DCircle.h
7 * \brief Class generating a circle trajectory in 2D
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/04/08
10 * \version 4.0
11 */
12
13#ifndef TRAJECTORYGENERATOR2DCIRCLE_H
14#define TRAJECTORYGENERATOR2DCIRCLE_H
15
16#include <IODevice.h>
17#include <Vector2D.h>
18
19namespace flair {
20namespace core {
21class Matrix;
22}
23namespace gui {
24class LayoutPosition;
25}
26}
27
28class TrajectoryGenerator2DCircle_impl;
29
30namespace flair {
31namespace filter {
32/*! \class TrajectoryGenerator2DCircle
33*
34* \brief Class generating a circle trajectory in 2D
35*
36* This class generates position and velocity references, given
37* a maximum velocity and an absolute acceleration, for a circle. \n
38* When trajectory is started (StartTraj), position and velocity will increase
39* at the given acceleration untill maximum velocity is reached. \n
40* When trajectory is asked to be finished (see FinishTraj()), position
41* and velocity will decrease at the given acceleration untill null velocity is
42*reached. \n
43* Position and velocity of the center of the circle can be manually changed
44* through SetCenter() and SetCenterSpeed().
45*/
46class TrajectoryGenerator2DCircle : public core::IODevice {
47public:
48 /*!
49 * \brief Constructor
50 *
51 * Construct a TrajectoryGenerator2DCircle at position. \n
52 * The TrajectoryGenerator2DCircle will automatically be child of
53 *position->getLayout() Layout. After calling this function,
54 * position will be deleted as it is no longer usefull. \n
55 *
56 * \param position position to display settings
57 * \param name name
58 */
59 TrajectoryGenerator2DCircle(const gui::LayoutPosition *position,
60 std::string name);
61
62 /*!
63 * \brief Destructor
64 *
65 */
66 ~TrajectoryGenerator2DCircle();
67
68 /*!
69 * \brief Start trajectory
70 *
71 * \param start_pos start position
72 * \param nb_lap number of laps, -1 for infinite
73 */
74 void StartTraj(const core::Vector2Df &start_pos, float nb_lap = -1);
75
76 /*!
77 * \brief Stop trajectory
78 *
79 * Stop abruptly the trajectory.
80 */
81 void StopTraj(void);
82
83 /*!
84 * \brief Finish trajectory
85 *
86 * Finish smoothly the trajectory.
87 */
88 void FinishTraj(void);
89
90 /*!
91 * \brief Set center position
92 *
93 * \param value center position
94 */
95 void SetCenter(const core::Vector2Df &value);
96
97 /*!
98 * \brief Set center speed
99 *
100 * \param value center speed
101 */
102 void SetCenterSpeed(const core::Vector2Df &value);
103
104 /*!
105 * \brief Update using provided datas
106 *
107 * Uses values specified by StartTraj(),
108 * SetCenter() and SetCenterSpeed().
109 *
110 * \param time time of the update
111 */
112 void Update(core::Time time);
113
114 /*!
115 * \brief Position
116 *
117 * \param point returned position
118 */
119 void GetPosition(core::Vector2Df &point) const;
120
121 /*!
122 * \brief Speed
123 *
124 * \param point returned speed
125 */
126 void GetSpeed(core::Vector2Df &point) const;
127
128 /*!
129 * \brief Output matrix
130 *
131 * \return matrix
132 */
133 core::Matrix *GetMatrix(void) const;
134
135 /*!
136 * \brief Is trajectory running?
137 *
138 * \return true if trajectory is running
139 */
140 bool IsRunning(void) const;
141
142private:
143 /*!
144 * \brief Update using provided datas
145 *
146 * Reimplemented from IODevice. Nothing to do in this IODevice.
147 *
148 * \param data data from the parent to process
149 */
150 void UpdateFrom(const core::io_data *data){};
151
152 TrajectoryGenerator2DCircle_impl *pimpl_;
153};
154} // end namespace filter
155} // end namespace flair
156#endif // TRAJECTORYGENERATOR2DCIRCLE_H
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