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 | /*!
|
---|
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 |
|
---|
16 | namespace flair {
|
---|
17 | namespace core {
|
---|
18 | class cvmatrix;
|
---|
19 | }
|
---|
20 | namespace gui {
|
---|
21 | class LayoutPosition;
|
---|
22 | class DoubleSpinBox;
|
---|
23 | }
|
---|
24 | }
|
---|
25 |
|
---|
26 | /*! \class TrajectoryGenerator1D_impl
|
---|
27 | * \brief Class generating a trajectory in 1D
|
---|
28 | */
|
---|
29 | class TrajectoryGenerator1D_impl {
|
---|
30 |
|
---|
31 | public:
|
---|
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);
|
---|
37 | void StartTraj(float start_pos, float end_pos);
|
---|
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;
|
---|
43 |
|
---|
44 | private:
|
---|
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;
|
---|
50 | };
|
---|
51 |
|
---|
52 | #endif // TRAJECTORYGENERATOR1D_IMPL_H
|
---|