[10] | 1 | // %flair:license{
|
---|
[15] | 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
[10] | 4 | // %flair:license}
|
---|
[7] | 5 | /*!
|
---|
| 6 | * \file TrajectoryGenerator2DCircle_impl.h
|
---|
| 7 | * \brief Class generating a circle trajectory in 2D
|
---|
| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 9 | * \date 2013/04/08
|
---|
| 10 | * \version 4.0
|
---|
| 11 | */
|
---|
| 12 |
|
---|
| 13 | #ifndef TRAJECTORYGENERATOR2DCIRCLE_IMPL_H
|
---|
| 14 | #define TRAJECTORYGENERATOR2DCIRCLE_IMPL_H
|
---|
| 15 |
|
---|
| 16 | #include <Object.h>
|
---|
| 17 | #include <Vector2D.h>
|
---|
| 18 |
|
---|
[15] | 19 | namespace flair {
|
---|
| 20 | namespace core {
|
---|
| 21 | class cvmatrix;
|
---|
| 22 | class io_data;
|
---|
[7] | 23 | }
|
---|
[15] | 24 | namespace gui {
|
---|
| 25 | class LayoutPosition;
|
---|
| 26 | class DoubleSpinBox;
|
---|
| 27 | }
|
---|
| 28 | namespace filter {
|
---|
| 29 | class TrajectoryGenerator2DCircle;
|
---|
| 30 | }
|
---|
| 31 | }
|
---|
[7] | 32 |
|
---|
| 33 | /*! \class TrajectoryGenerator2DCircle_impl
|
---|
| 34 | * \brief Class generating a circle trajectory in 2D
|
---|
| 35 | */
|
---|
| 36 |
|
---|
[15] | 37 | class TrajectoryGenerator2DCircle_impl {
|
---|
[7] | 38 |
|
---|
[15] | 39 | public:
|
---|
| 40 | TrajectoryGenerator2DCircle_impl(
|
---|
| 41 | flair::filter::TrajectoryGenerator2DCircle *self,
|
---|
| 42 | const flair::gui::LayoutPosition *position, std::string name);
|
---|
| 43 | ~TrajectoryGenerator2DCircle_impl();
|
---|
| 44 | void Update(flair::core::Time time);
|
---|
[167] | 45 | void StartTraj(const flair::core::Vector2Df &start_pos, float nb_lap);
|
---|
[15] | 46 | void FinishTraj(void);
|
---|
| 47 | bool is_running;
|
---|
| 48 | flair::core::cvmatrix *output;
|
---|
[167] | 49 | flair::core::Vector2Df pos_off, vel_off;
|
---|
[7] | 50 |
|
---|
[15] | 51 | private:
|
---|
| 52 | flair::core::Time previous_time;
|
---|
| 53 | float CurrentTime, FinishTime;
|
---|
| 54 | bool first_update, is_finishing;
|
---|
[167] | 55 | flair::core::Vector2Df pos;
|
---|
[15] | 56 | float angle_off;
|
---|
| 57 | flair::gui::DoubleSpinBox *T, *veloctity, *acceleration, *rayon;
|
---|
| 58 | float nb_lap;
|
---|
[7] | 59 | };
|
---|
| 60 |
|
---|
| 61 | #endif // TRAJECTORYGENERATOR2DCIRCLE_IMPL_H
|
---|