[10] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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[7] | 5 | // created: 2013/04/08
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| 6 | // filename: TrajectoryGenerator2DCircle_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet permettant la generation d'une trajectoire cercle
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "TrajectoryGenerator2DCircle_impl.h"
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| 19 | #include "TrajectoryGenerator2DCircle.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Layout.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <DoubleSpinBox.h>
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| 24 | #include <cmath>
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| 25 |
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| 26 | #define PI ((float)3.14159265358979323846)
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 | using namespace flair::filter;
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| 32 |
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| 33 | TrajectoryGenerator2DCircle_impl::TrajectoryGenerator2DCircle_impl(TrajectoryGenerator2DCircle* self,const LayoutPosition* position,string name) {
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| 34 | first_update=true;
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| 35 | is_running=false;
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| 36 | is_finishing=false;
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| 37 |
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| 38 | //init UI
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| 39 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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| 40 | T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);
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| 41 | rayon=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"R"," m",0,1000,.1);
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| 42 | veloctity=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"velocity"," m/s",-10,10,1);
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| 43 | acceleration=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"acceleration (absolute)"," m/s²",0,10,.1);
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| 44 |
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| 45 | //init matrix
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| 46 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,2);
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| 47 | desc->SetElementName(0,0,"pos.x");
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| 48 | desc->SetElementName(0,1,"pos.y");
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| 49 | desc->SetElementName(1,0,"vel.x");
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| 50 | desc->SetElementName(1,1,"vel.y");
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| 51 | output=new cvmatrix(self,desc,floatType,name);
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| 52 |
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| 53 | output->SetValue(0,0,0);
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| 54 | output->SetValue(0,1,0);
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| 55 | output->SetValue(1,0,0);
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| 56 | output->SetValue(1,1,0);
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| 57 | }
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| 58 |
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| 59 |
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| 60 | TrajectoryGenerator2DCircle_impl::~TrajectoryGenerator2DCircle_impl() {
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| 61 | delete output;
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| 62 | }
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| 63 |
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| 64 | void TrajectoryGenerator2DCircle_impl::StartTraj(const Vector2D &start_pos,float nb_lap) {
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| 65 | is_running=true;
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| 66 | first_update=true;
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| 67 | is_finishing=false;
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| 68 | this->nb_lap=nb_lap;
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| 69 |
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| 70 | //configure trajectory
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| 71 | angle_off=atan2(start_pos.y-pos_off.y,start_pos.x-pos_off.x);
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| 72 | CurrentTime=0;
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| 73 | }
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| 74 |
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| 75 | void TrajectoryGenerator2DCircle_impl::FinishTraj(void) {
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| 76 | if(!is_finishing) {
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| 77 | is_finishing=true;
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| 78 | FinishTime=CurrentTime;
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| 79 | }
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| 80 | }
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| 81 |
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| 82 | void TrajectoryGenerator2DCircle_impl::Update(Time time) {
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| 83 | float delta_t;
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| 84 | float theta;
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| 85 | float V=veloctity->Value();
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| 86 | float A=acceleration->Value();
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| 87 | float R=rayon->Value();
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| 88 | Vector2D v;
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| 89 |
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| 90 | if(V<0) A=-A;
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| 91 |
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| 92 | if(T->Value()==0) {
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| 93 | if(first_update) {
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| 94 | first_update=false;
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| 95 | previous_time=time;
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| 96 | return;
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| 97 | } else {
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| 98 | delta_t=(float)(time-previous_time)/1000000000.;
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| 99 | }
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| 100 | } else {
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| 101 | delta_t=T->Value();
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| 102 | }
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| 103 | previous_time=time;
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| 104 | CurrentTime+=delta_t;
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| 105 |
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| 106 | if(is_finishing && CurrentTime>FinishTime+V/A) is_running=false;
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| 107 |
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| 108 | if(is_running) {
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| 109 | if(R==0) {
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| 110 | pos.x=0;
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| 111 | pos.y=0;
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| 112 | v.x=0;
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| 113 | v.y=0;
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| 114 | } else {
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| 115 | if(CurrentTime<V/A) {
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| 116 | theta=angle_off+A/2*CurrentTime*CurrentTime/R;
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| 117 | pos.x=R*cos(theta);
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| 118 | pos.y=R*sin(theta);
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| 119 | v.x=-A*CurrentTime*sin(theta);
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| 120 | v.y=A*CurrentTime*cos(theta);
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| 121 | } else {
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| 122 | if(!is_finishing) {
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| 123 | theta=angle_off+V*V/(2*A*R)+(CurrentTime-V/A)*V/R;
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| 124 | pos.x=R*cos(theta);
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| 125 | pos.y=R*sin(theta);
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| 126 | v.x=-V*sin(theta);
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| 127 | v.y=V*cos(theta);
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| 128 | } else {
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| 129 | theta=angle_off+V*V/(2*A*R)+(FinishTime-V/A)*V/R-A/2*(FinishTime-CurrentTime)*(FinishTime-CurrentTime)/R+V*(CurrentTime-FinishTime)/R;
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| 130 | pos.x=R*cos(theta);
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| 131 | pos.y=R*sin(theta);
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| 132 | v.x=-(V+A*(FinishTime-CurrentTime))*sin(theta);
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| 133 | v.y=(V+A*(FinishTime-CurrentTime))*cos(theta);
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| 134 | }
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| 135 | }
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| 136 | }
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| 137 |
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| 138 | if(theta-angle_off>=nb_lap*2*PI-(-A/2*(V/A)*(V/A)/R+V*(V/A)/R) && nb_lap>0) {
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| 139 | FinishTraj();
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| 140 | }
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| 141 | } else {
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| 142 | v.x=0;
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| 143 | v.y=0;
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| 144 | }
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| 145 |
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| 146 | //on prend une fois pour toute les mutex et on fait des accès directs
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| 147 | output->GetMutex();
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| 148 | output->SetValueNoMutex(0,0,pos.x+pos_off.x);
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| 149 | output->SetValueNoMutex(0,1,pos.y+pos_off.y);
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| 150 | output->SetValueNoMutex(1,0,v.x+vel_off.x);
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| 151 | output->SetValueNoMutex(1,1,v.y+vel_off.y);
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| 152 | output->ReleaseMutex();
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| 153 |
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| 154 | output->SetDataTime(time);
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| 155 | }
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