Last change
on this file since 7 was 7, checked in by Sanahuja Guillaume, 8 years ago |
filter and meta
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File size:
1.2 KB
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[7] | 1 | /*!
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| 2 | * \file TrajectoryGenerator1D_impl.h
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| 3 | * \brief Class generating a trajectory in 1D
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| 4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 5 | * \date 2011/05/01
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| 6 | * \version 4.0
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| 7 | */
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| 8 |
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| 9 | #ifndef TRAJECTORYGENERATOR1D_IMPL_H
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| 10 | #define TRAJECTORYGENERATOR1D_IMPL_H
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| 11 |
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| 12 | namespace flair
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| 13 | {
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| 14 | namespace core
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| 15 | {
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| 16 | class cvmatrix;
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| 17 | }
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| 18 | namespace gui
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| 19 | {
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| 20 | class LayoutPosition;
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| 21 | class DoubleSpinBox;
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| 22 | }
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| 23 | }
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| 24 |
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| 25 | /*! \class TrajectoryGenerator1D_impl
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| 26 | * \brief Class generating a trajectory in 1D
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| 27 | */
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| 28 | class TrajectoryGenerator1D_impl
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| 29 | {
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| 30 |
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| 31 | public:
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| 32 | TrajectoryGenerator1D_impl(flair::filter::TrajectoryGenerator1D* self,const flair::gui::LayoutPosition* position,std::string name,std::string unit);
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| 33 | ~TrajectoryGenerator1D_impl();
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| 34 | void Update(flair::core::Time time);
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| 35 | void StartTraj(float start_pos,float end_pos);
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| 36 | void StopTraj(void);
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| 37 | void Reset(void);
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| 38 | flair::core::cvmatrix *output;
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| 39 | float pos_off,vel_off;
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| 40 | bool is_finished,is_started;
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| 41 |
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| 42 | private:
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| 43 | float end_position;
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| 44 | float pos,v,acc;
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| 45 | flair::core::Time previous_time;
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| 46 | bool first_update;
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| 47 | flair::gui::DoubleSpinBox *T,*max_veloctity,*acceleration;
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| 48 | };
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| 49 |
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| 50 | #endif // TRAJECTORYGENERATOR1D_IMPL_H
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