TrajectoryGenerator1D.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef TRAJECTORYGENERATOR1D_H
#define TRAJECTORYGENERATOR1D_H

#include <IODevice.h>

namespace flair {
namespace core {
class Matrix;
}
namespace gui {
class LayoutPosition;
}
}

class TrajectoryGenerator1D_impl;

namespace flair {
namespace filter {
class TrajectoryGenerator1D : public core::IODevice {
public:
  TrajectoryGenerator1D(const gui::LayoutPosition *position, std::string name,
                        std::string unit = "");

  ~TrajectoryGenerator1D();

  void StartTraj(float startPosition, float endPosition,float startVelocity=0);

  void StopTraj(void);

  void Reset(void);

  bool IsRunning(void) const;

  void SetPositionOffset(float value);

  void SetSpeedOffset(float value);

  void Update(core::Time time);

  float Position(void) const;

  float Speed(void) const;
  
  float GetPercentageOfCompletion(void) const;

  core::Matrix *GetMatrix(void) const;

private:
  void UpdateFrom(const core::io_data *data){};

  TrajectoryGenerator1D_impl *pimpl_;
};
} // end namespace filter
} // end namespace flair
#endif // TRAJECTORYGENERATOR1D_H