source: flair-src/trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator1D_impl.h@ 177

Last change on this file since 177 was 177, checked in by Sanahuja Guillaume, 5 years ago

use current zvel when switching from starttakingoff to stabilized into the traj generator

File size: 1.3 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]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
[15]16namespace flair {
17namespace core {
18class cvmatrix;
[7]19}
[15]20namespace gui {
21class LayoutPosition;
22class DoubleSpinBox;
23}
24}
[7]25
26/*! \class TrajectoryGenerator1D_impl
27* \brief Class generating a trajectory in 1D
28*/
[15]29class TrajectoryGenerator1D_impl {
[7]30
[15]31public:
32 TrajectoryGenerator1D_impl(flair::filter::TrajectoryGenerator1D *self,
33 const flair::gui::LayoutPosition *position,
34 std::string name, std::string unit);
35 ~TrajectoryGenerator1D_impl();
36 void Update(flair::core::Time time);
[177]37 void StartTraj(float start_pos, float end_pos,float startVelocity);
[15]38 void StopTraj(void);
39 void Reset(void);
40 flair::core::cvmatrix *output;
41 float pos_off, vel_off;
42 bool is_finished, is_started;
[7]43
[15]44private:
45 float end_position;
46 float pos, v, acc;
47 flair::core::Time previous_time;
48 bool first_update;
49 flair::gui::DoubleSpinBox *T, *max_veloctity, *acceleration;
[7]50};
51
52#endif // TRAJECTORYGENERATOR1D_IMPL_H
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