source: flair-src/trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator2DCircle_impl.h @ 15

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

sources reformatted with flair-format-dir script

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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 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
19namespace flair {
20namespace core {
21class cvmatrix;
22class io_data;
23}
24namespace gui {
25class LayoutPosition;
26class DoubleSpinBox;
27}
28namespace filter {
29class TrajectoryGenerator2DCircle;
30}
31}
32
33/*! \class TrajectoryGenerator2DCircle_impl
34* \brief Class generating a circle trajectory in 2D
35*/
36
37class TrajectoryGenerator2DCircle_impl {
38
39public:
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);
45  void StartTraj(const flair::core::Vector2D &start_pos, float nb_lap);
46  void FinishTraj(void);
47  bool is_running;
48  flair::core::cvmatrix *output;
49  flair::core::Vector2D pos_off, vel_off;
50
51private:
52  flair::core::Time previous_time;
53  float CurrentTime, FinishTime;
54  bool first_update, is_finishing;
55  flair::core::Vector2D pos;
56  float angle_off;
57  flair::gui::DoubleSpinBox *T, *veloctity, *acceleration, *rayon;
58  float nb_lap;
59};
60
61#endif // TRAJECTORYGENERATOR2DCIRCLE_IMPL_H
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