TrajectoryGenerator2DCircle.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 TRAJECTORYGENERATOR2DCIRCLE_H
#define TRAJECTORYGENERATOR2DCIRCLE_H

#include <IODevice.h>
#include <Vector2D.h>

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

class TrajectoryGenerator2DCircle_impl;

namespace flair {
namespace filter {
class TrajectoryGenerator2DCircle : public core::IODevice {
public:
  TrajectoryGenerator2DCircle(const gui::LayoutPosition *position,
                              std::string name);

  ~TrajectoryGenerator2DCircle();

  void StartTraj(const core::Vector2Df &start_pos, float nb_lap = -1);

  void StopTraj(void);

  void FinishTraj(void);

  void SetCenter(const core::Vector2Df &value);

  void SetCenterSpeed(const core::Vector2Df &value);

  void Update(core::Time time);

  void GetPosition(core::Vector2Df &point) const;

  void GetSpeed(core::Vector2Df &point) const;

  core::Matrix *GetMatrix(void) const;

  bool IsRunning(void) const;

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

  TrajectoryGenerator2DCircle_impl *pimpl_;
};
} // end namespace filter
} // end namespace flair
#endif // TRAJECTORYGENERATOR2DCIRCLE_H