Changeset 205 in flair-src

Timestamp:

12/05/17 14:20:54 (6 years ago)

Author:

Sanahuja Guillaume

Message:

TrajectoryGenerator1D::GetPercentageOfCompletion

Location:

trunk/lib/FlairFilter/src

Files:

• TrajectoryGenerator1D.cpp (modified) (1 diff)
• TrajectoryGenerator1D.h (modified) (2 diffs)
• TrajectoryGenerator1D_impl.cpp (modified) (5 diffs)
• unexported/TrajectoryGenerator1D_impl.h (modified) (2 diffs)

trunk/lib/FlairFilter/src/TrajectoryGenerator1D.cpp

@@ -89 +89 @@
 }
 
+float TrajectoryGenerator1D::GetPercentageOfCompletion(void) const {
+  return pimpl_->GetPercentageOfCompletion();
+}
+
 } // end namespace filter
 } // end namespace flair

trunk/lib/FlairFilter/src/TrajectoryGenerator1D.h

@@ -127 +127 @@
   * \brief Position
   *
+  * \return the actual position
   */
   float Position(void) const;
@@ -133 +134 @@
   * \brief Speed
   *
+  * \return the actual speed
   */
   float Speed(void) const;
+  
+  /*!
+  * \brief Get percentage of completion
+  * 
+  * Value is between 0 and 100.
+  *
+  * \return the percentage of completion (in position)
+  */
+  float GetPercentageOfCompletion(void) const;
 
   /*!

trunk/lib/FlairFilter/src/TrajectoryGenerator1D_impl.cpp

@@ -85 +85 @@
 
   // configure trajectory
-  end_position = end_pos;
+  this->start_pos = start_pos;
+  this->end_pos = end_pos;
   pos = start_pos;
   acc = acceleration->Value();
@@ -95 +96 @@
       v = -max_veloctity->Value();
   }
-  if (end_position < start_pos) {
+  if (end_pos < start_pos) {
     acc = -acc;
     // max_veloctity=-max_veloctity;
@@ -106 +107 @@
   v = 0;
   // output->SetValue(1,0,v);
+}
+
+float TrajectoryGenerator1D_impl::GetPercentageOfCompletion(void) const {
+  if(!is_started) {
+    return 0;
+  } else {
+    return (pos-start_pos)/(end_pos-start_pos)*100;
+  }
 }
 
@@ -140 +149 @@
       }
       pos += v * delta_t;
-      if (end_position - v * v / (2 * acc) <= pos && v >= 0)
+      if (end_pos - v * v / (2 * acc) <= pos && v >= 0)
         acc = -acc;
-      if (end_position - v * v / (2 * acc) >= pos && v < 0)
+      if (end_pos - v * v / (2 * acc) >= pos && v < 0)
         acc = -acc;
-      if (pos >= end_position && v >= 0)
+      if (pos >= end_pos && v >= 0)
         is_finished = true;
-      if (pos <= end_position && v < 0)
+      if (pos <= end_pos && v < 0)
         is_finished = true;
     }
@@ -152 +161 @@
     if (is_finished == true) {
       v = 0;
-      pos = end_position;
+      pos = end_pos;
     }
   }

trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator1D_impl.h

@@ -38 +38 @@
   void StopTraj(void);
   void Reset(void);
+  float GetPercentageOfCompletion(void) const;
   flair::core::cvmatrix *output;
   float pos_off, vel_off;
@@ -43 +44 @@
 
 private:
-  float end_position;
+  float start_pos,end_pos;
   float pos, v, acc;
   flair::core::Time previous_time;