| 1 | /*!
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| 2 | * \file TrajectoryGenerator2DCircle.h
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| 3 | * \brief Class generating a circle trajectory in 2D
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| 4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 5 | * \date 2013/04/08
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| 6 | * \version 4.0
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| 7 | */
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| 8 |
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| 9 | #ifndef TRAJECTORYGENERATOR2DCIRCLE_H
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| 10 | #define TRAJECTORYGENERATOR2DCIRCLE_H
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| 11 |
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| 12 | #include <IODevice.h>
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| 13 |
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| 14 | namespace flair
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| 15 | {
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| 16 | namespace core
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| 17 | {
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| 18 | class cvmatrix;
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| 19 | class Vector2D;
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| 20 | }
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| 21 | namespace gui
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| 22 | {
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| 23 | class LayoutPosition;
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| 24 | }
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| 25 | }
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| 26 |
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| 27 | class TrajectoryGenerator2DCircle_impl;
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| 28 |
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| 29 | namespace flair
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| 30 | {
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| 31 | namespace filter
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| 32 | {
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| 33 | /*! \class TrajectoryGenerator2DCircle
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| 34 | *
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| 35 | * \brief Class generating a circle trajectory in 2D
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| 36 | *
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| 37 | * This class generates position and velocity references, given
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| 38 | * a maximum velocity and an absolute acceleration, for a circle. \n
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| 39 | * When trajectory is started (StartTraj), position and velocity will increase
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| 40 | * at the given acceleration untill maximum velocity is reached. \n
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| 41 | * When trajectory is asked to be finished (see FinishTraj()), position
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| 42 | * and velocity will decrease at the given acceleration untill null velocity is reached. \n
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| 43 | * Position and velocity of the center of the circle can be manually changed
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| 44 | * through SetCenter() and SetCenterSpeed().
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| 45 | */
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| 46 | class TrajectoryGenerator2DCircle : public core::IODevice
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| 47 | {
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| 48 | public:
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| 49 | /*!
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| 50 | * \brief Constructor
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| 51 | *
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| 52 | * Construct a TrajectoryGenerator2DCircle at position. \n
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| 53 | * The TrajectoryGenerator2DCircle will automatically be child of position->getLayout() Layout. After calling this function,
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| 54 | * position will be deleted as it is no longer usefull. \n
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| 55 | *
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| 56 | * \param position position to display settings
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| 57 | * \param name name
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| 58 | */
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| 59 | TrajectoryGenerator2DCircle(const gui::LayoutPosition* position,std::string name);
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| 60 |
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| 61 | /*!
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| 62 | * \brief Destructor
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| 63 | *
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| 64 | */
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| 65 | ~TrajectoryGenerator2DCircle();
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| 66 |
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| 67 | /*!
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| 68 | * \brief Start trajectory
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| 69 | *
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| 70 | * \param start_pos start position
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| 71 | * \param nb_lap number of laps, -1 for infinite
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| 72 | */
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| 73 | void StartTraj(const core::Vector2D &start_pos,float nb_lap=-1);
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| 74 |
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| 75 | /*!
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| 76 | * \brief Stop trajectory
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| 77 | *
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| 78 | * Stop abruptly the trajectory.
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| 79 | */
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| 80 | void StopTraj(void);
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| 81 |
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| 82 | /*!
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| 83 | * \brief Finish trajectory
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| 84 | *
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| 85 | * Finish smoothly the trajectory.
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| 86 | */
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| 87 | void FinishTraj(void);
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| 88 |
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| 89 | /*!
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| 90 | * \brief Set center position
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| 91 | *
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| 92 | * \param value center position
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| 93 | */
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| 94 | void SetCenter(const core::Vector2D &value);
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| 95 |
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| 96 | /*!
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| 97 | * \brief Set center speed
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| 98 | *
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| 99 | * \param value center speed
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| 100 | */
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| 101 | void SetCenterSpeed(const core::Vector2D &value);
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| 102 |
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| 103 | /*!
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| 104 | * \brief Update using provided datas
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| 105 | *
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| 106 | * Uses values specified by StartTraj(),
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| 107 | * SetCenter() and SetCenterSpeed().
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| 108 | *
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| 109 | * \param time time of the update
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| 110 | */
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| 111 | void Update(core::Time time);
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| 112 |
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| 113 | /*!
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| 114 | * \brief Position
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| 115 | *
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| 116 | * \param point returned position
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| 117 | */
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| 118 | void GetPosition(core::Vector2D &point) const;
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| 119 |
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| 120 | /*!
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| 121 | * \brief Speed
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| 122 | *
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| 123 | * \param point returned speed
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| 124 | */
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| 125 | void GetSpeed(core::Vector2D &point) const;
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| 126 |
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| 127 | /*!
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| 128 | * \brief Output matrix
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| 129 | *
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| 130 | * \return matrix
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| 131 | */
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| 132 | core::cvmatrix *Matrix(void) const;
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| 133 |
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| 134 | /*!
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| 135 | * \brief Is trajectory running?
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| 136 | *
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| 137 | * \return true if trajectory is running
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| 138 | */
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| 139 | bool IsRunning(void) const;
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| 140 |
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| 141 | private:
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| 142 | /*!
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| 143 | * \brief Update using provided datas
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| 144 | *
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| 145 | * Reimplemented from IODevice. Nothing to do in this IODevice.
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| 146 | *
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| 147 | * \param data data from the parent to process
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| 148 | */
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| 149 | void UpdateFrom(const core::io_data *data){};
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| 150 |
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| 151 | TrajectoryGenerator2DCircle_impl* pimpl_;
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| 152 |
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| 153 | };
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| 154 | } // end namespace filter
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| 155 | } // end namespace flair
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| 156 | #endif // TRAJECTORYGENERATOR2DCIRCLE_H
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