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