source: flair-src/trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator2DCircle_impl.h@ 7

/*!
 * \file TrajectoryGenerator2DCircle_impl.h
 * \brief Class generating a circle trajectory in 2D
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/04/08
 * \version 4.0
 */

#ifndef TRAJECTORYGENERATOR2DCIRCLE_IMPL_H
#define TRAJECTORYGENERATOR2DCIRCLE_IMPL_H

#include <Object.h>
#include <Vector2D.h>

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class io_data;
    }
    namespace gui
    {
        class LayoutPosition;
        class DoubleSpinBox;
    }
    namespace filter
    {
        class TrajectoryGenerator2DCircle;
    }
}


/*! \class TrajectoryGenerator2DCircle_impl
* \brief Class generating a circle trajectory in 2D
*/

class TrajectoryGenerator2DCircle_impl
{

    public:
        TrajectoryGenerator2DCircle_impl(flair::filter::TrajectoryGenerator2DCircle* self,const flair::gui::LayoutPosition* position,std::string name);
        ~TrajectoryGenerator2DCircle_impl();
        void Update(flair::core::Time time);
        void StartTraj(const flair::core::Vector2D &start_pos,float nb_lap);
        void FinishTraj(void);
        bool is_running;
        flair::core::cvmatrix *output;
        flair::core::Vector2D pos_off,vel_off;

    private:
        flair::core::Time previous_time;
        float CurrentTime,FinishTime;
        bool first_update,is_finishing;
        flair::core::Vector2D pos;
        float angle_off;
        flair::gui::DoubleSpinBox *T,*veloctity,*acceleration,*rayon;
        float nb_lap;
};

#endif // TRAJECTORYGENERATOR2DCIRCLE_IMPL_H