Changeset 15 in flair-src for trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h
- Timestamp:
- Apr 8, 2016, 3:40:57 PM (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h (modified) (1 diff)
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trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h
r10 r15 16 16 #include <IODevice.h> 17 17 18 namespace flair 19 { 20 namespace core 21 { 22 class cvmatrix; 23 } 24 namespace gui 25 { 26 class LayoutPosition; 27 } 18 namespace flair { 19 namespace core { 20 class cvmatrix; 21 } 22 namespace gui { 23 class LayoutPosition; 24 } 28 25 } 29 26 30 27 class TrajectoryGenerator1D_impl; 31 28 32 namespace flair 33 { 34 namespace filter 35 { 36 /*! \class TrajectoryGenerator1D 37 * 38 * \brief Class generating a trajectory in 1D 39 * 40 * This class generates position and velocity references, given 41 * an absolute maximum velocity and an absolute acceleration. \n 42 * When trajectory is started (see StartTraj()), position and velocity will increase 43 * at the given acceleration. If the maximum velocity is reached, 44 * velocity will not increase anymore. Then, velocity will decrease according 45 * to the given acceleration until velocity is null and final position is reached. \n 46 * Manual inputs can be introduced using SetPositionOffset() and SetSpeedOffset(). 47 * 48 */ 49 class TrajectoryGenerator1D : public core::IODevice 50 { 51 public: 52 /*! 53 * \brief Constructor 54 * 55 * Construct a TrajectoryGenerator1D at given position. \n 56 * The TrajectoryGenerator1D will automatically be child of position->getLayout() Layout. After calling this function, 57 * position will be deleted as it is no longer usefull. \n 58 * 59 * \param position position to display settings 60 * \param name name 61 * \param unit unit of the position (for exemple m, deg, etc). Its only used for display on ground station. 62 */ 63 TrajectoryGenerator1D(const gui::LayoutPosition* position,std::string name,std::string unit=""); 29 namespace flair { 30 namespace filter { 31 /*! \class TrajectoryGenerator1D 32 * 33 * \brief Class generating a trajectory in 1D 34 * 35 * This class generates position and velocity references, given 36 * an absolute maximum velocity and an absolute acceleration. \n 37 * When trajectory is started (see StartTraj()), position and velocity will 38 *increase 39 * at the given acceleration. If the maximum velocity is reached, 40 * velocity will not increase anymore. Then, velocity will decrease according 41 * to the given acceleration until velocity is null and final position is 42 *reached. \n 43 * Manual inputs can be introduced using SetPositionOffset() and 44 *SetSpeedOffset(). 45 * 46 */ 47 class TrajectoryGenerator1D : public core::IODevice { 48 public: 49 /*! 50 * \brief Constructor 51 * 52 * Construct a TrajectoryGenerator1D at given position. \n 53 * The TrajectoryGenerator1D will automatically be child of 54 *position->getLayout() Layout. After calling this function, 55 * position will be deleted as it is no longer usefull. \n 56 * 57 * \param position position to display settings 58 * \param name name 59 * \param unit unit of the position (for exemple m, deg, etc). Its only used 60 *for display on ground station. 61 */ 62 TrajectoryGenerator1D(const gui::LayoutPosition *position, std::string name, 63 std::string unit = ""); 64 64 65 66 67 68 69 65 /*! 66 * \brief Destructor 67 * 68 */ 69 ~TrajectoryGenerator1D(); 70 70 71 72 73 74 75 76 77 void StartTraj(float start_pos,float end_pos);71 /*! 72 * \brief Start trajectory 73 * 74 * \param start_pos start position 75 * \param end_pos end position 76 */ 77 void StartTraj(float start_pos, float end_pos); 78 78 79 80 81 82 83 79 /*! 80 * \brief Stop trajectory 81 * 82 */ 83 void StopTraj(void); 84 84 85 86 87 88 89 90 91 85 /*! 86 * \brief Reset 87 * 88 * Reset all outputs to 0. This can be done only when IsRunning()==false. 89 * 90 */ 91 void Reset(void); 92 92 93 94 95 96 97 98 93 /*! 94 * \brief Is trajectory running? 95 * 96 * \return true if trajectory is running 97 */ 98 bool IsRunning(void) const; 99 99 100 101 102 103 104 105 100 /*! 101 * \brief Set position offset 102 * 103 * \param value position offset 104 */ 105 void SetPositionOffset(float value); 106 106 107 108 109 110 111 112 107 /*! 108 * \brief Set speed offset 109 * 110 * \param value speed offset 111 */ 112 void SetSpeedOffset(float value); 113 113 114 115 116 117 118 119 120 121 122 114 /*! 115 * \brief Update using provided datas 116 * 117 * Uses values specified by StartTraj(), 118 * SetPositionOffset() and SetSpeedOffset(). 119 * 120 * \param time time of the update 121 */ 122 void Update(core::Time time); 123 123 124 125 126 127 128 124 /*! 125 * \brief Position 126 * 127 */ 128 float Position(void) const; 129 129 130 131 132 133 134 130 /*! 131 * \brief Speed 132 * 133 */ 134 float Speed(void) const; 135 135 136 137 138 139 140 141 136 /*! 137 * \brief Output matrix 138 * 139 * \return matrix 140 */ 141 core::cvmatrix *Matrix(void) const; 142 142 143 144 145 146 147 148 149 150 151 143 private: 144 /*! 145 * \brief Update using provided datas 146 * 147 * Reimplemented from IODevice. Nothing to do in this IODevice. 148 * 149 * \param data data from the parent to process 150 */ 151 void UpdateFrom(const core::io_data *data){}; 152 152 153 TrajectoryGenerator1D_impl*pimpl_;154 153 TrajectoryGenerator1D_impl *pimpl_; 154 }; 155 155 } // end namespace filter 156 156 } // end namespace flair
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