Ignore:
Timestamp:
04/08/16 15:40:57 (8 years ago)
Author:
Bayard Gildas
Message:

sources reformatted with flair-format-dir script

File:
1 edited

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  • trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h

    r10 r15  
    1616#include <IODevice.h>
    1717
    18 namespace flair
    19 {
    20     namespace core
    21     {
    22         class cvmatrix;
    23         class Vector2D;
    24     }
    25     namespace gui
    26     {
    27         class LayoutPosition;
    28     }
     18namespace flair {
     19namespace core {
     20class cvmatrix;
     21class Vector2D;
     22}
     23namespace gui {
     24class LayoutPosition;
     25}
    2926}
    3027
    3128class TrajectoryGenerator2DCircle_impl;
    3229
    33 namespace flair
    34 {
    35 namespace filter
    36 {
    37     /*! \class TrajectoryGenerator2DCircle
    38     *
    39     * \brief Class generating a circle trajectory in 2D
    40     *
    41     * This class generates position and velocity references, given
    42     * a maximum velocity and an absolute acceleration, for a circle. \n
    43     * When trajectory is started (StartTraj), position and velocity will increase
    44     * at the given acceleration untill maximum velocity is reached. \n
    45     * When trajectory is asked to be finished (see FinishTraj()), position
    46     * and velocity will decrease at the given acceleration untill null velocity is reached. \n
    47     * Position and velocity of the center of the circle can be manually changed
    48     * through SetCenter() and SetCenterSpeed().
    49     */
    50     class TrajectoryGenerator2DCircle : public core::IODevice
    51     {
    52         public:
    53             /*!
    54             * \brief Constructor
    55             *
    56             * Construct a TrajectoryGenerator2DCircle at position. \n
    57             * The TrajectoryGenerator2DCircle will automatically be child of position->getLayout() Layout. After calling this function,
    58             * position will be deleted as it is no longer usefull. \n
    59             *
    60             * \param position position to display settings
    61             * \param name name
    62             */
    63             TrajectoryGenerator2DCircle(const gui::LayoutPosition* position,std::string name);
     30namespace flair {
     31namespace filter {
     32/*! \class TrajectoryGenerator2DCircle
     33*
     34* \brief Class generating a circle trajectory in 2D
     35*
     36* This class generates position and velocity references, given
     37* a maximum velocity and an absolute acceleration, for a circle. \n
     38* When trajectory is started (StartTraj), position and velocity will increase
     39* at the given acceleration untill maximum velocity is reached. \n
     40* When trajectory is asked to be finished (see FinishTraj()), position
     41* and velocity will decrease at the given acceleration untill null velocity is
     42*reached. \n
     43* Position and velocity of the center of the circle can be manually changed
     44* through SetCenter() and SetCenterSpeed().
     45*/
     46class TrajectoryGenerator2DCircle : public core::IODevice {
     47public:
     48  /*!
     49  * \brief Constructor
     50  *
     51  * Construct a TrajectoryGenerator2DCircle at position. \n
     52  * The TrajectoryGenerator2DCircle will automatically be child of
     53  *position->getLayout() Layout. After calling this function,
     54  * position will be deleted as it is no longer usefull. \n
     55  *
     56  * \param position position to display settings
     57  * \param name name
     58  */
     59  TrajectoryGenerator2DCircle(const gui::LayoutPosition *position,
     60                              std::string name);
    6461
    65             /*!
    66             * \brief Destructor
    67             *
    68             */
    69             ~TrajectoryGenerator2DCircle();
     62  /*!
     63  * \brief Destructor
     64  *
     65  */
     66  ~TrajectoryGenerator2DCircle();
    7067
    71             /*!
    72             * \brief Start trajectory
    73             *
    74             * \param start_pos start position
    75             * \param nb_lap number of laps, -1 for infinite
    76             */
    77             void StartTraj(const core::Vector2D &start_pos,float nb_lap=-1);
     68  /*!
     69  * \brief Start trajectory
     70  *
     71  * \param start_pos start position
     72  * \param nb_lap number of laps, -1 for infinite
     73  */
     74  void StartTraj(const core::Vector2D &start_pos, float nb_lap = -1);
    7875
    79             /*!
    80             * \brief Stop trajectory
    81             *
    82             * Stop abruptly the trajectory.
    83             */
    84             void StopTraj(void);
     76  /*!
     77  * \brief Stop trajectory
     78  *
     79  * Stop abruptly the trajectory.
     80  */
     81  void StopTraj(void);
    8582
    86             /*!
    87             * \brief Finish trajectory
    88             *
    89             * Finish smoothly the trajectory.
    90             */
    91             void FinishTraj(void);
     83  /*!
     84  * \brief Finish trajectory
     85  *
     86  * Finish smoothly the trajectory.
     87  */
     88  void FinishTraj(void);
    9289
    93             /*!
    94             * \brief Set center position
    95             *
    96             * \param value center position
    97             */
    98             void SetCenter(const core::Vector2D &value);
     90  /*!
     91  * \brief Set center position
     92  *
     93  * \param value center position
     94  */
     95  void SetCenter(const core::Vector2D &value);
    9996
    100             /*!
    101             * \brief Set center speed
    102             *
    103             * \param value center speed
    104             */
    105             void SetCenterSpeed(const core::Vector2D &value);
     97  /*!
     98  * \brief Set center speed
     99  *
     100  * \param value center speed
     101  */
     102  void SetCenterSpeed(const core::Vector2D &value);
    106103
    107             /*!
    108             * \brief Update using provided datas
    109             *
    110             * Uses values specified by StartTraj(),
    111             * SetCenter() and SetCenterSpeed().
    112             *
    113             * \param time time of the update
    114             */
    115             void Update(core::Time time);
     104  /*!
     105  * \brief Update using provided datas
     106  *
     107  * Uses values specified by StartTraj(),
     108  * SetCenter() and SetCenterSpeed().
     109  *
     110  * \param time time of the update
     111  */
     112  void Update(core::Time time);
    116113
    117             /*!
    118             * \brief Position
    119             *
    120             * \param point returned position
    121             */
    122             void GetPosition(core::Vector2D &point) const;
     114  /*!
     115  * \brief Position
     116  *
     117  * \param point returned position
     118  */
     119  void GetPosition(core::Vector2D &point) const;
    123120
    124             /*!
    125             * \brief Speed
    126             *
    127             * \param point returned speed
    128             */
    129             void GetSpeed(core::Vector2D &point) const;
     121  /*!
     122  * \brief Speed
     123  *
     124  * \param point returned speed
     125  */
     126  void GetSpeed(core::Vector2D &point) const;
    130127
    131             /*!
    132             * \brief Output matrix
    133             *
    134             * \return matrix
    135             */
    136             core::cvmatrix *Matrix(void) const;
     128  /*!
     129  * \brief Output matrix
     130  *
     131  * \return matrix
     132  */
     133  core::cvmatrix *Matrix(void) const;
    137134
    138             /*!
    139             * \brief Is trajectory running?
    140             *
    141             * \return true if trajectory is running
    142             */
    143             bool IsRunning(void) const;
     135  /*!
     136  * \brief Is trajectory running?
     137  *
     138  * \return true if trajectory is running
     139  */
     140  bool IsRunning(void) const;
    144141
    145         private:
    146             /*!
    147             * \brief Update using provided datas
    148             *
    149             * Reimplemented from IODevice. Nothing to do in this IODevice.
    150             *
    151             * \param data data from the parent to process
    152             */
    153             void UpdateFrom(const core::io_data *data){};
     142private:
     143  /*!
     144  * \brief Update using provided datas
     145  *
     146  * Reimplemented from IODevice. Nothing to do in this IODevice.
     147  *
     148  * \param data data from the parent to process
     149  */
     150  void UpdateFrom(const core::io_data *data){};
    154151
    155             TrajectoryGenerator2DCircle_impl* pimpl_;
    156 
    157     };
     152  TrajectoryGenerator2DCircle_impl *pimpl_;
     153};
    158154} // end namespace filter
    159155} // end namespace flair
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