Stg Namespace Reference

The Stage library uses its own namespace. More...

Namespaces
namespace	Gl
Classes
class	Ancestor
class	Block
class	BlockGroup
class	Bounds
class	CallbackHooks
class	Camera
class	Canvas
class	Cell
class	Color
struct	CProperty
class	FileManager
class	Flag
class	Geom
class	GuiState
class	LogEntry
class	Model
	Model class More...
class	ModelActuator
	ModelActuator class More...
class	ModelBlinkenlight
class	ModelBlobfinder
	ModelBlobfinder class More...
class	ModelCamera
	ModelCamera class More...
class	ModelFiducial
	ModelFiducial class More...
class	ModelGripper
class	ModelLaser
	ModelLaser class More...
class	ModelLightIndicator
class	ModelLoadCell
	ModelLoadCell class More...
class	ModelPosition
	ModelPosition class More...
class	ModelRanger
	ModelRanger class More...
class	Option
class	OptionsDlg
class	OrthoCamera
class	PerspectiveCamera
class	Pose
class	PowerPack
class	Ray
class	RaytraceResult
class	Region
class	Size
struct	stg_blinkenlight_t
class	stg_bounds3d_t
struct	stg_fov_t
class	stg_point3_t
class	stg_point_int_t
class	stg_point_t
struct	stg_rotrect_t
class	StripPlotVis
class	SuperRegion
class	TextureManager
	Singleton for loading textures (not threadsafe). More...
class	TrailItem
class	Velocity
class	Visibility
class	Visualizer
class	Waypoint
class	World
	World class More...
class	Worldfile
class	WorldGui
Typedefs
typedef std::vector< Block * >	BlockPtrVec
typedef std::vector< Cell * >	CellPtrVec
typedef int	ctrlinit_t (Model *mod)
typedef std::set< Model * >	ModelPtrSet
typedef std::vector< Model * >	ModelPtrVec
typedef std::vector < stg_point_int_t >	PointIntVec
typedef bool	stg_bool_t
typedef Model *(*	stg_creator_t )(World *, Model *)
typedef uint32_t	stg_id_t
typedef double	stg_joules_t
typedef double	stg_kg_t
typedef double	stg_meters_t
typedef int(*	stg_model_callback_t )(Model *mod, void *user)
typedef uint32_t	stg_movemask_t
typedef unsigned long	stg_msec_t
typedef double	stg_radians_t
typedef bool(*	stg_ray_test_func_t )(Model *candidate, Model *finder, const void *arg)
typedef RaytraceResult	stg_raytrace_result_t
typedef struct timeval	stg_time_t
typedef uint64_t	stg_usec_t
typedef double	stg_watts_t
typedef int(*	stg_world_callback_t )(World *world, void *user)
typedef std::pair< const char *, stg_creator_t >	TypeEntry
Enumerations
enum	{ FiducialNone = 0 }
enum	stg_laser_return_t { LaserTransparent = 0, LaserVisible, LaserBright }
	laser return value More...
enum	stg_model_type_t {   MODEL_TYPE_PLAIN = 0, MODEL_TYPE_LASER, MODEL_TYPE_FIDUCIAL, MODEL_TYPE_RANGER,   MODEL_TYPE_POSITION, MODEL_TYPE_BLOBFINDER, MODEL_TYPE_BLINKENLIGHT, MODEL_TYPE_CAMERA,   MODEL_TYPE_GRIPPER, MODEL_TYPE_ACTUATOR, MODEL_TYPE_LOADCELL, MODEL_TYPE_LIGHTINDICATOR,   MODEL_TYPE_COUNT }
Functions
const int32_t	CELLMASK (~((~0x00)<< RBITS))
double	constrain (double val, double minval, double maxval)
double	dtor (double d)
int32_t	GETCELL (const int32_t x)
int32_t	GETREG (const int32_t x)
int32_t	GETSREG (const int32_t x)
void	Init (int *argc, char **argv[])
bool	InitDone ()
double	normalize (double a)
const int32_t	RBITS (5)
const int32_t	REGIONMASK (~((~0x00)<< SRBITS))
const int32_t	REGIONSIZE (REGIONWIDTH *REGIONWIDTH)
const int32_t	REGIONWIDTH (1<< RBITS)
void	RegisterModels ()
double	rtod (double r)
const int32_t	SBITS (5)
double	sgn (double a)
int	sgn (int a)
const int32_t	SRBITS (RBITS+SBITS)
int	stg_rotrects_from_image_file (const char *filename, stg_rotrect_t **rects, unsigned int *rect_count, unsigned int *widthp, unsigned int *heightp)
stg_point_t *	stg_unit_square_points_create ()
const int32_t	SUPERREGIONSIZE (SUPERREGIONWIDTH *SUPERREGIONWIDTH)
const int32_t	SUPERREGIONWIDTH (1<< SBITS)
const char *	Version ()
Variables
const char	AUTHORS []
	Author string.
const double	billion = 1e9
const char	COPYRIGHT []
	Copyright string.
const char	DESCRIPTION []
	Project description string.
const uint32_t	INTERVAL_LOG_LEN = 32
const char	LICENSE []
	Project distribution license string.
const double	million = 1e6
const char	MP_COLOR [] = "_mp_color"
const char	MP_FIDUCIAL_RETURN [] = "_mp_fiducial_return"
const char	MP_GEOM [] = "_mp_geom"
const char	MP_GRIPPER_RETURN [] = "_mp_gripper_return"
const char	MP_LASER_RETURN [] = "_mp_laser_return"
const char	MP_MASS [] = "_mp_mass"
const char	MP_OBSTACLE_RETURN [] = "_mp_obstacle_return"
const char	MP_POSE [] = "_mp_pose"
const char	MP_PREFIX [] = "_mp_"
const char	MP_RANGER_RETURN [] = "_mp_ranger_return"
const char	MP_VELOCITY [] = "_mp_velocity"
const char	MP_WATTS [] = "_mp_watts"
const stg_movemask_t	STG_MOVE_ROT = (1 << 1)
	bitmask
const stg_movemask_t	STG_MOVE_SCALE = (1 << 2)
	bitmask
const stg_movemask_t	STG_MOVE_TRANS = (1 << 0)
	bitmask
const double	thousand = 1e3
const uint32_t	TOKEN_MAX = 64
const char	WEBSITE [] = "http://playerstage.org"
	Project website string.

---

Detailed Description

The Stage library uses its own namespace.

---

Typedef Documentation

typedef std::vector<Block*> Stg::BlockPtrVec

Vector of pointers to Blocks.

typedef std::vector<Cell*> Stg::CellPtrVec

Vector of pointers to Cells.

typedef int Stg::ctrlinit_t(Model *mod)

typedef std::set<Model*> Stg::ModelPtrSet

Set of pointers to Models.

typedef std::vector<Model*> Stg::ModelPtrVec

Vector of pointers to Models.

typedef std::vector<stg_point_int_t> Stg::PointIntVec

typedef bool Stg::stg_bool_t

boolean

typedef Model*(* Stg::stg_creator_t)(World *, Model *)

A model creator function. Each model type must define a function of this type.

typedef uint32_t Stg::stg_id_t

Value that uniquely identifies a model

typedef double Stg::stg_joules_t

Joules: unit of energy

typedef double Stg::stg_kg_t

Kilograms: unit of mass

typedef double Stg::stg_meters_t

Metres: floating point unit of distance

typedef int(* Stg::stg_model_callback_t)(Model *mod, void *user)

Define a callback function type that can be attached to a record within a model and called whenever the record is set.

typedef uint32_t Stg::stg_movemask_t

typedef unsigned long Stg::stg_msec_t

Milliseconds: unit of (short) time

typedef double Stg::stg_radians_t

Radians: unit of angle

typedef bool(* Stg::stg_ray_test_func_t)(Model *candidate, Model *finder, const void *arg)

matching function should return true iff the candidate block is stops the ray, false if the block transmits the ray

typedef RaytraceResult Stg::stg_raytrace_result_t

typedef struct timeval Stg::stg_time_t

time structure

typedef uint64_t Stg::stg_usec_t

Microseconds: unit of (very short) time

typedef double Stg::stg_watts_t

Watts: unit of power (energy/time)

typedef int(* Stg::stg_world_callback_t)(World *world, void *user)

typedef std::pair<const char*, stg_creator_t> Stg::TypeEntry

---

Enumeration Type Documentation

anonymous enum

any integer value other than this is a valid fiducial ID

Enumerator:

FiducialNone

enum Stg::stg_laser_return_t

laser return value

Enumerator:

LaserTransparent	not detected by laser model
LaserVisible	detected by laser with a reflected intensity of 0
LaserBright	detected by laser with a reflected intensity of 1

enum Stg::stg_model_type_t

Create unique identifying numbers for each type of model, and a count of the number of types.

Enumerator:

MODEL_TYPE_PLAIN
MODEL_TYPE_LASER
MODEL_TYPE_FIDUCIAL
MODEL_TYPE_RANGER
MODEL_TYPE_POSITION
MODEL_TYPE_BLOBFINDER
MODEL_TYPE_BLINKENLIGHT
MODEL_TYPE_CAMERA
MODEL_TYPE_GRIPPER
MODEL_TYPE_ACTUATOR
MODEL_TYPE_LOADCELL
MODEL_TYPE_LIGHTINDICATOR
MODEL_TYPE_COUNT

---

Function Documentation

const int32_t Stg::CELLMASK

(

~

(~0x00)<< RBITS

)

double Stg::constrain	(	double	val,
		double	minval,
		double	maxval
	)

double Stg::dtor

(

double

d

)

[inline]

convert an angle in degrees to radians.

int32_t Stg::GETCELL

(

const int32_t

x

)

[inline]

int32_t Stg::GETREG

(

const int32_t

x

)

[inline]

int32_t Stg::GETSREG

(

const int32_t

x

)

[inline]

void Stg::Init	(	int *	argc,
		char **	argv[]
	)

Initialize the Stage library

bool Stg::InitDone

(

)

returns true iff Stg::Init() has been called.

double Stg::normalize

(

double

a

)

[inline]

Normalize an angle to within +/_ M_PI.

const int32_t Stg::RBITS

(

5

)

const int32_t Stg::REGIONMASK

(

~

(~0x00)<< SRBITS

)

const int32_t Stg::REGIONSIZE

(

REGIONWIDTH *

REGIONWIDTH

)

const int32_t Stg::REGIONWIDTH

(

1<<

RBITS

)

void Stg::RegisterModels

(

)

Map model names to named constructors for each model type

double Stg::rtod

(

double

r

)

[inline]

convert an angle in radians to degrees.

const int32_t Stg::SBITS

(

5

)

double Stg::sgn

(

double

a

)

[inline]

take binary sign of a, either -1, or 1 if >= 0.

int Stg::sgn

(

int

a

)

[inline]

take binary sign of a, either -1, or 1 if >= 0

const int32_t Stg::SRBITS

(

RBITS+

SBITS

)

int Stg::stg_rotrects_from_image_file	(	const char *	filename,
		stg_rotrect_t **	rects,
		unsigned int *	rect_count,
		unsigned int *	widthp,
		unsigned int *	heightp
	)

load the image file [filename] and convert it to an array of rectangles, filling in the number of rects, width and height. Memory is allocated for the rectangle array [rects], so the caller must free [rects].

stg_point_t * Stg::stg_unit_square_points_create

(

void

)

create an array of 4 points containing the corners of a unit square.

const int32_t Stg::SUPERREGIONSIZE

(

SUPERREGIONWIDTH *

SUPERREGIONWIDTH

)

const int32_t Stg::SUPERREGIONWIDTH

(

1<<

SBITS

)

const char * Stg::Version

(

)

returns a human readable string indicating the libstage version number.

---

Variable Documentation

const char Stg::AUTHORS[]

Initial value:

                    
    "Richard Vaughan, Brian Gerkey, Andrew Howard, Reed Hedges, Pooya Karimian, Toby Collett, Jeremy Asher, Alex Couture-Beil and contributors."

Author string.

const double Stg::billion = 1e9

Convenient constant

const char Stg::COPYRIGHT[]

Initial value:

                       
    "Copyright Richard Vaughan and contributors 2000-2009"

Copyright string.

const char Stg::DESCRIPTION[]

Initial value:

                       
    "Robot simulation library\nPart of the Player Project"

Project description string.

const uint32_t Stg::INTERVAL_LOG_LEN = 32

const char Stg::LICENSE[]

Initial value:

 
    "Stage robot simulation library\n"                  
    "Copyright (C) 2000-2009 Richard Vaughan and contributors\n"    
    "Part of the Player Project [http://playerstage.org]\n"     
    "\n"                                
    "This program is free software; you can redistribute it and/or\n"   
    "modify it under the terms of the GNU General Public License\n" 
    "as published by the Free Software Foundation; either version 2\n"  
    "of the License, or (at your option) any later version.\n"      
    "\n"                                
    "This program is distributed in the hope that it will be useful,\n" 
    "but WITHOUT ANY WARRANTY; without even the implied warranty of\n"  
    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\n"   
    "GNU General Public License for more details.\n"            
    "\n"                                
    "You should have received a copy of the GNU General Public License\n" 
    "along with this program; if not, write to the Free Software\n" 
    "Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.\n" 
    "\n"                                
    "The text of the license may also be available online at\n"     
    "http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n"

Project distribution license string.

const double Stg::million = 1e6

Convenient constant

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 stg_movemask_t Stg::STG_MOVE_ROT = (1 << 1)

bitmask

const stg_movemask_t Stg::STG_MOVE_SCALE = (1 << 2)

bitmask

const stg_movemask_t Stg::STG_MOVE_TRANS = (1 << 0)

bitmask

const double Stg::thousand = 1e3

Convenient constant

const uint32_t Stg::TOKEN_MAX = 64

The maximum length of a Stage model identifier string

const char Stg::WEBSITE[] = "http://playerstage.org"

Project website string.