usMotorSettings.cpp

/****************************************************************************
 *
 * This file is part of the ustk software.
 * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ustk with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at ustk@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Authors:
 * Pierre Chatelain
 * Marc Pouliquen
 *
 *****************************************************************************/
 
// std includes
#include <iostream>
 
// visp includes
#include <visp3/ustk_core/usMotorSettings.h>
 
// ustk includes
 
usMotorSettings::usMotorSettings()
  : m_motorRadius(0.0), m_framePitch(0.0), m_frameNumberIsSet(false), m_motorType(LinearMotor)
{
}
 
usMotorSettings::usMotorSettings(double motorRadius, double framePitch, unsigned int frameNumber,
                                 const usMotorType &motorType)
  : m_motorRadius(motorRadius), m_framePitch(framePitch), m_frameNumber(frameNumber), m_frameNumberIsSet(true),
    m_motorType(motorType)
{
}
 
usMotorSettings::usMotorSettings(const usMotorSettings &other)
  : m_motorRadius(other.getMotorRadius()), m_framePitch(other.getFramePitch()), m_frameNumber(other.getFrameNumber()),
    m_frameNumberIsSet(other.frameNumberIsSet()), m_motorType(other.getMotorType())
{
}
 
usMotorSettings::~usMotorSettings() {}
 
usMotorSettings &usMotorSettings::operator=(const usMotorSettings &other)
{
  m_motorRadius = other.getMotorRadius();
  m_framePitch = other.getFramePitch();
  m_frameNumber = other.getFrameNumber();
  m_frameNumberIsSet = other.frameNumberIsSet();
  m_motorType = other.getMotorType();
  return *this;
}
 
bool usMotorSettings::operator==(const usMotorSettings &other)
{
  return (this->getFramePitch() == other.getFramePitch() && this->getFrameNumber() == other.getFrameNumber() &&
          this->frameNumberIsSet() == other.frameNumberIsSet() && this->getMotorRadius() == other.getMotorRadius() &&
          this->getMotorType() == other.getMotorType());
}
 
bool usMotorSettings::operator!=(const usMotorSettings &other) { return !operator==(other); }
 
VISP_EXPORT std::ostream &operator<<(std::ostream &out, const usMotorSettings &other)
{
  return out << "motor radius : " << other.getMotorRadius() << std::endl
             << "frame angle : " << other.getFramePitch() << std::endl
             << "frame number : " << other.getFrameNumber() << std::endl
             << "motor type : " << other.getMotorType() << std::endl;
}
 
// probe settings getters/setters
 
void usMotorSettings::setMotorRadius(double motorRadius) { m_motorRadius = motorRadius; }
 
double usMotorSettings::getMotorRadius() const { return m_motorRadius; }
 
void usMotorSettings::setFramePitch(double framePitch) { m_framePitch = framePitch; }
 
double usMotorSettings::getFramePitch() const { return m_framePitch; }
 
unsigned int usMotorSettings::getFrameNumber() const { return m_frameNumber; }
 
void usMotorSettings::setMotorType(const usMotorType &motorType)
{
  m_motorType = motorType;
  if (motorType == LinearMotor) {
    setMotorRadius(0.0);
  }
}
 
usMotorSettings::usMotorType usMotorSettings::getMotorType() const { return m_motorType; }
 
void usMotorSettings::setMotorSettings(const usMotorSettings &other) { *this = other; }
 
void usMotorSettings::setFrameNumber(unsigned int frameNumber)
{
  m_frameNumber = frameNumber;
  m_frameNumberIsSet = true;
}
 
bool usMotorSettings::frameNumberIsSet() const { return m_frameNumberIsSet; }
 
double usMotorSettings::getMotorFieldOfView() const
{
  if (!m_frameNumberIsSet)
    throw vpException(vpException::notInitialized, "The frame number is not set, cannot determine the field of view");
  return m_framePitch * (double)(m_frameNumber - 1);
}
 
void usMotorSettings::setMotorFieldOfView(double motorFieldOfView)
{
  if (!m_frameNumberIsSet)
    throw vpException(vpException::notInitialized,
                      "The frame number is not set, cannot determine the pitch from the field of view");
  m_framePitch = motorFieldOfView / (double)(m_frameNumber - 1);
}
 
usMotorSettings usMotorSettings::getMotorSettings() const
{
  usMotorSettings ret = *this;
  return ret;
}