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

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file TrajectoryGenerator1D_impl.h
 * \brief Class generating a trajectory in 1D
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/05/01
 * \version 4.0
 */

#ifndef TRAJECTORYGENERATOR1D_IMPL_H
#define TRAJECTORYGENERATOR1D_IMPL_H

namespace flair
{
    namespace core
    {
        class cvmatrix;
    }
    namespace gui
    {
        class LayoutPosition;
        class DoubleSpinBox;
    }
}

/*! \class TrajectoryGenerator1D_impl
* \brief Class generating a trajectory in 1D
*/
class TrajectoryGenerator1D_impl
{

    public:
        TrajectoryGenerator1D_impl(flair::filter::TrajectoryGenerator1D* self,const flair::gui::LayoutPosition* position,std::string name,std::string unit);
        ~TrajectoryGenerator1D_impl();
        void Update(flair::core::Time time);
        void StartTraj(float start_pos,float end_pos);
        void StopTraj(void);
        void Reset(void);
        flair::core::cvmatrix *output;
        float pos_off,vel_off;
        bool is_finished,is_started;

    private:
        float end_position;
        float pos,v,acc;
        flair::core::Time previous_time;
        bool first_update;
        flair::gui::DoubleSpinBox *T,*max_veloctity,*acceleration;
};

#endif // TRAJECTORYGENERATOR1D_IMPL_H