source: flair-src/trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator1D_impl.h@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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[10]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}
[7]5/*!
6 * \file TrajectoryGenerator1D_impl.h
7 * \brief Class generating a trajectory in 1D
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef TRAJECTORYGENERATOR1D_IMPL_H
14#define TRAJECTORYGENERATOR1D_IMPL_H
15
16namespace flair
17{
18 namespace core
19 {
20 class cvmatrix;
21 }
22 namespace gui
23 {
24 class LayoutPosition;
25 class DoubleSpinBox;
26 }
27}
28
29/*! \class TrajectoryGenerator1D_impl
30* \brief Class generating a trajectory in 1D
31*/
32class TrajectoryGenerator1D_impl
33{
34
35 public:
36 TrajectoryGenerator1D_impl(flair::filter::TrajectoryGenerator1D* self,const flair::gui::LayoutPosition* position,std::string name,std::string unit);
37 ~TrajectoryGenerator1D_impl();
38 void Update(flair::core::Time time);
39 void StartTraj(float start_pos,float end_pos);
40 void StopTraj(void);
41 void Reset(void);
42 flair::core::cvmatrix *output;
43 float pos_off,vel_off;
44 bool is_finished,is_started;
45
46 private:
47 float end_position;
48 float pos,v,acc;
49 flair::core::Time previous_time;
50 bool first_update;
51 flair::gui::DoubleSpinBox *T,*max_veloctity,*acceleration;
52};
53
54#endif // TRAJECTORYGENERATOR1D_IMPL_H
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