source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h@ 7

Last change on this file since 7 was 7, checked in by Sanahuja Guillaume, 6 years ago

filter and meta

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1/*!
2 * \file TrajectoryGenerator2DCircle.h
3 * \brief Class generating a circle trajectory in 2D
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2013/04/08
6 * \version 4.0
7 */
8
9#ifndef TRAJECTORYGENERATOR2DCIRCLE_H
10#define TRAJECTORYGENERATOR2DCIRCLE_H
11
12#include <IODevice.h>
13
14namespace flair
15{
16 namespace core
17 {
18 class cvmatrix;
19 class Vector2D;
20 }
21 namespace gui
22 {
23 class LayoutPosition;
24 }
25}
26
27class TrajectoryGenerator2DCircle_impl;
28
29namespace flair
30{
31namespace filter
32{
33 /*! \class TrajectoryGenerator2DCircle
34 *
35 * \brief Class generating a circle trajectory in 2D
36 *
37 * This class generates position and velocity references, given
38 * a maximum velocity and an absolute acceleration, for a circle. \n
39 * When trajectory is started (StartTraj), position and velocity will increase
40 * at the given acceleration untill maximum velocity is reached. \n
41 * When trajectory is asked to be finished (see FinishTraj()), position
42 * and velocity will decrease at the given acceleration untill null velocity is reached. \n
43 * Position and velocity of the center of the circle can be manually changed
44 * through SetCenter() and SetCenterSpeed().
45 */
46 class TrajectoryGenerator2DCircle : public core::IODevice
47 {
48 public:
49 /*!
50 * \brief Constructor
51 *
52 * Construct a TrajectoryGenerator2DCircle at position. \n
53 * The TrajectoryGenerator2DCircle will automatically be child of 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,std::string name);
60
61 /*!
62 * \brief Destructor
63 *
64 */
65 ~TrajectoryGenerator2DCircle();
66
67 /*!
68 * \brief Start trajectory
69 *
70 * \param start_pos start position
71 * \param nb_lap number of laps, -1 for infinite
72 */
73 void StartTraj(const core::Vector2D &start_pos,float nb_lap=-1);
74
75 /*!
76 * \brief Stop trajectory
77 *
78 * Stop abruptly the trajectory.
79 */
80 void StopTraj(void);
81
82 /*!
83 * \brief Finish trajectory
84 *
85 * Finish smoothly the trajectory.
86 */
87 void FinishTraj(void);
88
89 /*!
90 * \brief Set center position
91 *
92 * \param value center position
93 */
94 void SetCenter(const core::Vector2D &value);
95
96 /*!
97 * \brief Set center speed
98 *
99 * \param value center speed
100 */
101 void SetCenterSpeed(const core::Vector2D &value);
102
103 /*!
104 * \brief Update using provided datas
105 *
106 * Uses values specified by StartTraj(),
107 * SetCenter() and SetCenterSpeed().
108 *
109 * \param time time of the update
110 */
111 void Update(core::Time time);
112
113 /*!
114 * \brief Position
115 *
116 * \param point returned position
117 */
118 void GetPosition(core::Vector2D &point) const;
119
120 /*!
121 * \brief Speed
122 *
123 * \param point returned speed
124 */
125 void GetSpeed(core::Vector2D &point) const;
126
127 /*!
128 * \brief Output matrix
129 *
130 * \return matrix
131 */
132 core::cvmatrix *Matrix(void) const;
133
134 /*!
135 * \brief Is trajectory running?
136 *
137 * \return true if trajectory is running
138 */
139 bool IsRunning(void) const;
140
141 private:
142 /*!
143 * \brief Update using provided datas
144 *
145 * Reimplemented from IODevice. Nothing to do in this IODevice.
146 *
147 * \param data data from the parent to process
148 */
149 void UpdateFrom(const core::io_data *data){};
150
151 TrajectoryGenerator2DCircle_impl* pimpl_;
152
153 };
154} // end namespace filter
155} // end namespace flair
156#endif // TRAJECTORYGENERATOR2DCIRCLE_H
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