source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp@ 336

Last change on this file since 336 was 336, checked in by Sanahuja Guillaume, 3 years ago

use float

File size: 4.8 KB
Line 
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// created: 2013/04/08
6// filename: TrajectoryGenerator2DCircle_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet permettant la generation d'une trajectoire cercle
14//
15//
16/*********************************************************************/
17
18#include "TrajectoryGenerator2DCircle_impl.h"
19#include "TrajectoryGenerator2DCircle.h"
20#include <Matrix.h>
21#include <Layout.h>
22#include <GroupBox.h>
23#include <DoubleSpinBox.h>
24#include <cmath>
25
26#define PI ((float)3.14159265358979323846)
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31using namespace flair::filter;
32
33TrajectoryGenerator2DCircle_impl::TrajectoryGenerator2DCircle_impl(
34 TrajectoryGenerator2DCircle *self, const LayoutPosition *position,
35 string name) {
36 first_update = true;
37 is_running = false;
38 is_finishing = false;
39
40 // init UI
41 GroupBox *reglages_groupbox = new GroupBox(position, name);
42 T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
43 0, 1, 0.01);
44 rayon = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "R", " m", 0,
45 1000, .1);
46 veloctity = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "velocity",
47 " m/s", -10, 10, 1);
48 acceleration =
49 new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),
50 "acceleration (absolute)", " m/s²", 0, 10, .1);
51
52 // init matrix
53 MatrixDescriptor *desc = new MatrixDescriptor(2, 2);
54 desc->SetElementName(0, 0, "pos.x");
55 desc->SetElementName(0, 1, "pos.y");
56 desc->SetElementName(1, 0, "vel.x");
57 desc->SetElementName(1, 1, "vel.y");
58 output = new Matrix(self, desc, floatType, name);
59 delete desc;
60}
61
62TrajectoryGenerator2DCircle_impl::~TrajectoryGenerator2DCircle_impl() {
63 delete output;
64}
65
66void TrajectoryGenerator2DCircle_impl::StartTraj(const Vector2Df &start_pos,
67 float nb_lap) {
68 is_running = true;
69 first_update = true;
70 is_finishing = false;
71 this->nb_lap = nb_lap;
72
73 // configure trajectory
74 angle_off = atan2f(start_pos.y - pos_off.y, start_pos.x - pos_off.x);
75 CurrentTime = 0;
76}
77
78void TrajectoryGenerator2DCircle_impl::FinishTraj(void) {
79 if (!is_finishing) {
80 is_finishing = true;
81 FinishTime = CurrentTime;
82 }
83}
84
85void TrajectoryGenerator2DCircle_impl::Update(Time time) {
86 float delta_t;
87 float theta;
88 float V = veloctity->Value();
89 float A = acceleration->Value();
90 float R = rayon->Value();
91 Vector2Df v;
92
93 if (V < 0)
94 A = -A;
95
96 if (T->Value() == 0) {
97 if (first_update) {
98 first_update = false;
99 previous_time = time;
100 return;
101 } else {
102 delta_t = (float)(time - previous_time) / 1000000000.;
103 }
104 } else {
105 delta_t = T->Value();
106 }
107 previous_time = time;
108 CurrentTime += delta_t;
109
110 if (is_finishing && CurrentTime > FinishTime + V / A)
111 is_running = false;
112
113 if (is_running) {
114 if (R == 0) {
115 pos.x = 0;
116 pos.y = 0;
117 v.x = 0;
118 v.y = 0;
119 } else {
120 if (CurrentTime < V / A) {
121 theta = angle_off + A / 2 * CurrentTime * CurrentTime / R;
122 pos.x = R * cosf(theta);
123 pos.y = R * sinf(theta);
124 v.x = -A * CurrentTime * sinf(theta);
125 v.y = A * CurrentTime * cosf(theta);
126 } else {
127 if (!is_finishing) {
128 theta =
129 angle_off + V * V / (2 * A * R) + (CurrentTime - V / A) * V / R;
130 pos.x = R * cosf(theta);
131 pos.y = R * sinf(theta);
132 v.x = -V * sinf(theta);
133 v.y = V * cosf(theta);
134 } else {
135 theta = angle_off + V * V / (2 * A * R) +
136 (FinishTime - V / A) * V / R -
137 A / 2 * (FinishTime - CurrentTime) *
138 (FinishTime - CurrentTime) / R +
139 V * (CurrentTime - FinishTime) / R;
140 pos.x = R * cosf(theta);
141 pos.y = R * sinf(theta);
142 v.x = -(V + A * (FinishTime - CurrentTime)) * sinf(theta);
143 v.y = (V + A * (FinishTime - CurrentTime)) * cosf(theta);
144 }
145 }
146 }
147
148 if (theta - angle_off >= nb_lap * 2 * PI - (-A / 2 * (V / A) * (V / A) / R +
149 V * (V / A) / R) &&
150 nb_lap > 0) {
151 FinishTraj();
152 }
153 } else {
154 v.x = 0;
155 v.y = 0;
156 }
157
158 // on prend une fois pour toute les mutex et on fait des accès directs
159 output->GetMutex();
160 output->SetValueNoMutex(0, 0, pos.x + pos_off.x);
161 output->SetValueNoMutex(0, 1, pos.y + pos_off.y);
162 output->SetValueNoMutex(1, 0, v.x + vel_off.x);
163 output->SetValueNoMutex(1, 1, v.y + vel_off.y);
164 output->ReleaseMutex();
165
166 output->SetDataTime(time);
167}
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