stage.hh File Reference

#include <unistd.h>
#include <stdint.h>
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <libgen.h>
#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <pthread.h>
#include <cmath>
#include <iostream>
#include <vector>
#include <list>
#include <map>
#include <set>
#include <queue>
#include <algorithm>
#include <FL/Fl.H>
#include <FL/Fl_Box.H>
#include <FL/Fl_Gl_Window.H>
#include <FL/Fl_Menu_Bar.H>
#include <FL/Fl_Window.H>
#include <FL/fl_draw.H>
#include <FL/gl.h>
#include <GL/glu.h>
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Classes

class  Stg::Ancestor
class  Stg::Block
class  Stg::BlockGroup
class  Stg::Bounds
class  Stg::Camera
class  Stg::Color
class  Stg::CtrlArgs
class  Stg::Geom
class  Stg::LogEntry
class  Stg::Model
 Model class More...
class  Stg::Model::CallbackHooks
class  Stg::Model::Flag
class  Stg::Model::GuiState
class  Stg::Model::RasterVis
class  Stg::Model::stg_cb_t
class  Stg::Model::TrailItem
class  Stg::Model::Visibility
class  Stg::ModelActuator
 ModelActuator class More...
class  Stg::ModelBlinkenlight
class  Stg::ModelBlobfinder
 ModelBlobfinder class More...
class  Stg::ModelBlobfinder::Blob
class  Stg::ModelBlobfinder::Vis
class  Stg::ModelCamera
 ModelCamera class More...
struct  Stg::ModelCamera::ColoredVertex
class  Stg::ModelFiducial
 ModelFiducial class More...
class  Stg::ModelFiducial::Fiducial
class  Stg::ModelGripper
struct  Stg::ModelGripper::config_t
class  Stg::ModelLaser
 ModelLaser class More...
class  Stg::ModelLaser::Config
class  Stg::ModelLaser::Sample
class  Stg::ModelLaser::Vis
class  Stg::ModelLightIndicator
class  Stg::ModelPosition
 ModelPosition class More...
class  Stg::ModelPosition::PoseVis
class  Stg::ModelPosition::Waypoint
class  Stg::ModelPosition::WaypointVis
class  Stg::ModelRanger
 ModelRanger class More...
class  Stg::ModelRanger::Sensor
class  Stg::OrthoCamera
class  Stg::PerspectiveCamera
class  Stg::Pose
class  Stg::PowerPack
class  Stg::PowerPack::DissipationVis
class  Stg::Ray
class  Stg::RaytraceResult
class  Stg::Size
struct  Stg::stg_blinkenlight_t
class  Stg::stg_bounds3d_t
struct  Stg::stg_fov_t
class  Stg::stg_point3_t
class  Stg::stg_point_int_t
class  Stg::stg_point_t
struct  Stg::stg_rotrect_t
class  Stg::StripPlotVis
class  Stg::Velocity
class  Stg::Visualizer
class  Stg::World
 World class More...
class  Stg::World::Event
class  Stg::WorldGui

Namespaces

namespace  Stg
 

The Stage library uses its own namespace.


namespace  Stg::Gl

Defines

#define FOR_EACH(I, C)   for(VAR(I,(C).begin());I!=(C).end();I++)
#define PRINT_DEBUG(m)
#define PRINT_DEBUG1(m, a)
#define PRINT_DEBUG2(m, a, b)
#define PRINT_DEBUG3(m, a, b, c)
#define PRINT_DEBUG4(m, a, b, c, d)
#define PRINT_DEBUG5(m, a, b, c, d, e)
#define PRINT_ERR(m)   fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_ERR1(m, a)   fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)
#define PRINT_ERR2(m, a, b)   fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__)
#define PRINT_ERR3(m, a, b, c)   fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_ERR4(m, a, b, c, d)   fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_ERR5(m, a, b, c, d, e)   fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)
#define PRINT_MSG(m)   printf( "Stage: "m"\n" )
#define PRINT_MSG1(m, a)   printf( "Stage: "m"\n", a)
#define PRINT_MSG2(m, a, b)   printf( "Stage: "m"\n,", a, b )
#define PRINT_MSG3(m, a, b, c)   printf( "Stage: "m"\n", a, b, c )
#define PRINT_MSG4(m, a, b, c, d)   printf( "Stage: "m"\n", a, b, c, d )
#define PRINT_MSG5(m, a, b, c, d, e)   printf( "Stage: "m"\n", a, b, c, d, e )
#define PRINT_WARN(m)   printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_WARN1(m, a)   printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)
#define PRINT_WARN2(m, a, b)   printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__)
#define PRINT_WARN3(m, a, b, c)   printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_WARN4(m, a, b, c, d)   printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_WARN5(m, a, b, c, d, e)   printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)
#define VAR(V, init)   __typeof(init) V=(init)

Typedefs

typedef std::set< Block * > Stg::BlockPtrSet
typedef std::vector< Cell * > Stg::CellPtrVec
typedef Model *(* Stg::creator_t )(World *, Model *, const std::string &type)
typedef std::set< Model * > Stg::ModelPtrSet
typedef std::vector< Model * > Stg::ModelPtrVec
typedef std::vector
< stg_point_int_t > 
Stg::PointIntVec
typedef bool Stg::stg_bool_t
typedef uint32_t Stg::stg_id_t
typedef double Stg::stg_joules_t
typedef double Stg::stg_kg_t
typedef double Stg::stg_meters_t
typedef int(* Stg::stg_model_callback_t )(Model *mod, void *user)
typedef unsigned long Stg::stg_msec_t
typedef double Stg::stg_radians_t
typedef bool(* Stg::stg_ray_test_func_t )(Model *candidate, Model *finder, const void *arg)
typedef RaytraceResult Stg::stg_raytrace_result_t
typedef struct timeval Stg::stg_time_t
typedef uint64_t Stg::stg_usec_t
typedef double Stg::stg_watts_t
typedef int(* Stg::stg_world_callback_t )(World *world, void *user)

Enumerations

enum  { Stg::FiducialNone = 0 }
enum  Stg::stg_laser_return_t { Stg::LaserTransparent = 0, Stg::LaserVisible, Stg::LaserBright }
 

laser return value

More...

Functions

double Stg::constrain (double val, double minval, double maxval)
void Stg::Gl::coord_shift (double x, double y, double z, double a)
void Stg::Gl::draw_array (float x, float y, float w, float h, float *data, size_t len, size_t offset)
void Stg::Gl::draw_array (float x, float y, float w, float h, float *data, size_t len, size_t offset, float min, float max)
void Stg::Gl::draw_centered_rect (float x, float y, float dx, float dy)
void Stg::Gl::draw_grid (stg_bounds3d_t vol)
void Stg::Gl::draw_octagon (float x, float y, float w, float h, float m)
void Stg::Gl::draw_octagon (float w, float h, float m)
void Stg::Gl::draw_origin (double len)
void Stg::Gl::draw_speech_bubble (float x, float y, float z, const char *str)
void Stg::Gl::draw_string (float x, float y, float z, const char *string)
void Stg::Gl::draw_string_multiline (float x, float y, float w, float h, const char *string, Fl_Align align)
void Stg::Gl::draw_vector (double x, double y, double z)
double Stg::dtor (double d)
template<class T , class C >
void Stg::EraseAll (T thing, C &cont)
void Stg::Init (int *argc, char **argv[])
bool Stg::InitDone ()
double Stg::normalize (double a)
void Stg::Gl::pose_inverse_shift (const Pose &pose)
void Stg::Gl::pose_shift (const Pose &pose)
void Stg::RegisterModels ()
double Stg::rtod (double r)
double Stg::sgn (double a)
int Stg::sgn (int a)
int Stg::stg_rotrects_from_image_file (const char *filename, stg_rotrect_t **rects, unsigned int *rect_count, unsigned int *widthp, unsigned int *heightp)
stg_point_tStg::stg_unit_square_points_create ()
const char * Stg::Version ()

Variables

const char Stg::AUTHORS []
 Author string.
const double Stg::billion = 1e9
const char Stg::COPYRIGHT []
 Copyright string.
const char Stg::DESCRIPTION []
 Project description string.
const char Stg::LICENSE []
 Project distribution license string.
const double Stg::million = 1e6
const char Stg::MP_COLOR [] = "_mp_color"
const char Stg::MP_FIDUCIAL_RETURN [] = "_mp_fiducial_return"
const char Stg::MP_GEOM [] = "_mp_geom"
const char Stg::MP_GRIPPER_RETURN [] = "_mp_gripper_return"
const char Stg::MP_LASER_RETURN [] = "_mp_laser_return"
const char Stg::MP_MASS [] = "_mp_mass"
const char Stg::MP_OBSTACLE_RETURN [] = "_mp_obstacle_return"
const char Stg::MP_POSE [] = "_mp_pose"
const char Stg::MP_PREFIX [] = "_mp_"
const char Stg::MP_RANGER_RETURN [] = "_mp_ranger_return"
const char Stg::MP_VELOCITY [] = "_mp_velocity"
const char Stg::MP_WATTS [] = "_mp_watts"
const double Stg::thousand = 1e3
const char Stg::WEBSITE [] = "http://playerstage.org"
 Project website string.

Detailed Description

Desc: External header file for the Stage library Author: Richard Vaughan (vaughan@sfu.ca) Date: 1 June 2003 SVN:

Id
stage.hh 8318 2009-10-20 21:43:52Z rtv

Define Documentation

#define FOR_EACH ( I,
 )     for(VAR(I,(C).begin());I!=(C).end();I++)
#define PRINT_DEBUG (  ) 
#define PRINT_DEBUG1 ( m,
 ) 
#define PRINT_DEBUG2 ( m,
a,
 ) 
#define PRINT_DEBUG3 ( m,
a,
b,
 ) 
#define PRINT_DEBUG4 ( m,
a,
b,
c,
 ) 
#define PRINT_DEBUG5 ( m,
a,
b,
c,
d,
 ) 
#define PRINT_ERR (  )     fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_ERR1 ( m,
 )     fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)
#define PRINT_ERR2 ( m,
a,
 )     fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__)
#define PRINT_ERR3 ( m,
a,
b,
 )     fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_ERR4 ( m,
a,
b,
c,
 )     fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_ERR5 ( m,
a,
b,
c,
d,
 )     fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)
#define PRINT_MSG (  )     printf( "Stage: "m"\n" )
#define PRINT_MSG1 ( m,
 )     printf( "Stage: "m"\n", a)
#define PRINT_MSG2 ( m,
a,
 )     printf( "Stage: "m"\n,", a, b )
#define PRINT_MSG3 ( m,
a,
b,
 )     printf( "Stage: "m"\n", a, b, c )
#define PRINT_MSG4 ( m,
a,
b,
c,
 )     printf( "Stage: "m"\n", a, b, c, d )
#define PRINT_MSG5 ( m,
a,
b,
c,
d,
 )     printf( "Stage: "m"\n", a, b, c, d, e )
#define PRINT_WARN (  )     printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_WARN1 ( m,
 )     printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)
#define PRINT_WARN2 ( m,
a,
 )     printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__)
#define PRINT_WARN3 ( m,
a,
b,
 )     printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_WARN4 ( m,
a,
b,
c,
 )     printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_WARN5 ( m,
a,
b,
c,
d,
 )     printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)
#define VAR ( V,
init   )     __typeof(init) V=(init)

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