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1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file TrajectoryGenerator1D_impl.h
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7 | * \brief Class generating a trajectory in 1D
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2011/05/01
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef TRAJECTORYGENERATOR1D_IMPL_H
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14 | #define TRAJECTORYGENERATOR1D_IMPL_H
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15 |
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16 | namespace flair
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17 | {
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18 | namespace core
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19 | {
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20 | class cvmatrix;
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21 | }
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22 | namespace gui
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23 | {
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24 | class LayoutPosition;
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25 | class DoubleSpinBox;
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26 | }
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27 | }
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28 |
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29 | /*! \class TrajectoryGenerator1D_impl
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30 | * \brief Class generating a trajectory in 1D
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31 | */
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32 | class TrajectoryGenerator1D_impl
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33 | {
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34 |
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35 | public:
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36 | TrajectoryGenerator1D_impl(flair::filter::TrajectoryGenerator1D* self,const flair::gui::LayoutPosition* position,std::string name,std::string unit);
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37 | ~TrajectoryGenerator1D_impl();
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38 | void Update(flair::core::Time time);
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39 | void StartTraj(float start_pos,float end_pos);
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40 | void StopTraj(void);
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41 | void Reset(void);
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42 | flair::core::cvmatrix *output;
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43 | float pos_off,vel_off;
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44 | bool is_finished,is_started;
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45 |
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46 | private:
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47 | float end_position;
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48 | float pos,v,acc;
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49 | flair::core::Time previous_time;
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50 | bool first_update;
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51 | flair::gui::DoubleSpinBox *T,*max_veloctity,*acceleration;
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52 | };
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53 |
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54 | #endif // TRAJECTORYGENERATOR1D_IMPL_H
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