source: flair-src/trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator1D_impl.h @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

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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
16namespace flair {
17namespace core {
18class cvmatrix;
19}
20namespace gui {
21class LayoutPosition;
22class DoubleSpinBox;
23}
24}
25
26/*! \class TrajectoryGenerator1D_impl
27* \brief Class generating a trajectory in 1D
28*/
29class TrajectoryGenerator1D_impl {
30
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);
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
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;
50};
51
52#endif // TRAJECTORYGENERATOR1D_IMPL_H
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