source: flair-src/trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp@ 7

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

filter and meta

File size: 4.5 KB
Line 
1// created: 2013/04/08
2// filename: TrajectoryGenerator2DCircle_impl.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: objet permettant la generation d'une trajectoire cercle
10//
11//
12/*********************************************************************/
13
14#include "TrajectoryGenerator2DCircle_impl.h"
15#include "TrajectoryGenerator2DCircle.h"
16#include <cvmatrix.h>
17#include <Layout.h>
18#include <GroupBox.h>
19#include <DoubleSpinBox.h>
20#include <cmath>
21
22#define PI ((float)3.14159265358979323846)
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27using namespace flair::filter;
28
29TrajectoryGenerator2DCircle_impl::TrajectoryGenerator2DCircle_impl(TrajectoryGenerator2DCircle* self,const LayoutPosition* position,string name) {
30 first_update=true;
31 is_running=false;
32 is_finishing=false;
33
34 //init UI
35 GroupBox* reglages_groupbox=new GroupBox(position,name);
36 T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);
37 rayon=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"R"," m",0,1000,.1);
38 veloctity=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"velocity"," m/s",-10,10,1);
39 acceleration=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"acceleration (absolute)"," m/s²",0,10,.1);
40
41 //init matrix
42 cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,2);
43 desc->SetElementName(0,0,"pos.x");
44 desc->SetElementName(0,1,"pos.y");
45 desc->SetElementName(1,0,"vel.x");
46 desc->SetElementName(1,1,"vel.y");
47 output=new cvmatrix(self,desc,floatType,name);
48
49 output->SetValue(0,0,0);
50 output->SetValue(0,1,0);
51 output->SetValue(1,0,0);
52 output->SetValue(1,1,0);
53}
54
55
56TrajectoryGenerator2DCircle_impl::~TrajectoryGenerator2DCircle_impl() {
57 delete output;
58}
59
60void TrajectoryGenerator2DCircle_impl::StartTraj(const Vector2D &start_pos,float nb_lap) {
61 is_running=true;
62 first_update=true;
63 is_finishing=false;
64 this->nb_lap=nb_lap;
65
66 //configure trajectory
67 angle_off=atan2(start_pos.y-pos_off.y,start_pos.x-pos_off.x);
68 CurrentTime=0;
69}
70
71void TrajectoryGenerator2DCircle_impl::FinishTraj(void) {
72 if(!is_finishing) {
73 is_finishing=true;
74 FinishTime=CurrentTime;
75 }
76}
77
78void TrajectoryGenerator2DCircle_impl::Update(Time time) {
79 float delta_t;
80 float theta;
81 float V=veloctity->Value();
82 float A=acceleration->Value();
83 float R=rayon->Value();
84 Vector2D v;
85
86 if(V<0) A=-A;
87
88 if(T->Value()==0) {
89 if(first_update) {
90 first_update=false;
91 previous_time=time;
92 return;
93 } else {
94 delta_t=(float)(time-previous_time)/1000000000.;
95 }
96 } else {
97 delta_t=T->Value();
98 }
99 previous_time=time;
100 CurrentTime+=delta_t;
101
102 if(is_finishing && CurrentTime>FinishTime+V/A) is_running=false;
103
104 if(is_running) {
105 if(R==0) {
106 pos.x=0;
107 pos.y=0;
108 v.x=0;
109 v.y=0;
110 } else {
111 if(CurrentTime<V/A) {
112 theta=angle_off+A/2*CurrentTime*CurrentTime/R;
113 pos.x=R*cos(theta);
114 pos.y=R*sin(theta);
115 v.x=-A*CurrentTime*sin(theta);
116 v.y=A*CurrentTime*cos(theta);
117 } else {
118 if(!is_finishing) {
119 theta=angle_off+V*V/(2*A*R)+(CurrentTime-V/A)*V/R;
120 pos.x=R*cos(theta);
121 pos.y=R*sin(theta);
122 v.x=-V*sin(theta);
123 v.y=V*cos(theta);
124 } else {
125 theta=angle_off+V*V/(2*A*R)+(FinishTime-V/A)*V/R-A/2*(FinishTime-CurrentTime)*(FinishTime-CurrentTime)/R+V*(CurrentTime-FinishTime)/R;
126 pos.x=R*cos(theta);
127 pos.y=R*sin(theta);
128 v.x=-(V+A*(FinishTime-CurrentTime))*sin(theta);
129 v.y=(V+A*(FinishTime-CurrentTime))*cos(theta);
130 }
131 }
132 }
133
134 if(theta-angle_off>=nb_lap*2*PI-(-A/2*(V/A)*(V/A)/R+V*(V/A)/R) && nb_lap>0) {
135 FinishTraj();
136 }
137 } else {
138 v.x=0;
139 v.y=0;
140 }
141
142 //on prend une fois pour toute les mutex et on fait des accès directs
143 output->GetMutex();
144 output->SetValueNoMutex(0,0,pos.x+pos_off.x);
145 output->SetValueNoMutex(0,1,pos.y+pos_off.y);
146 output->SetValueNoMutex(1,0,v.x+vel_off.x);
147 output->SetValueNoMutex(1,1,v.y+vel_off.y);
148 output->ReleaseMutex();
149
150 output->SetDataTime(time);
151}
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