libstage API reference

Detailed Description

libstage (The Stage Library) provides a C code library for simulating a population of mobile robots and sensors. It is usually used as a plugin driver for Player, but it can also be used directly to build custom simulations.

libstage is modular and fairly simple to use. The following code is enough to get a complete robot simulation running:

#include "stage.h"

int main( int argc, char* argv[] )
  stg_init( argc, argv );

  stg_world_t* world = stg_world_create_from_file( argv[1] );
  while( (stg_world_update( world,TRUE )==0) )
  stg_world_destroy( world );
  return 0;

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 Measurement Types


#define FiducialNone   0
#define STG_TOKEN_MAX   64


typedef _stg_model stg_model_t
typedef _stg_world stg_world_t


int stg_init (int argc, char **argv)
void stg_quit_request (void)
int stg_quit_test (void)
stg_msec_t stg_timenow (void)
const char * stg_version_string (void)

Define Documentation

#define FiducialNone   0

any integer value other than this is a valid fiducial ID

#define STG_TOKEN_MAX   64

Limit the length of the character strings that identify models

Typedef Documentation

typedef struct _stg_model stg_model_t

typedef struct _stg_world stg_world_t

Function Documentation

int stg_init int  argc,
char **  argv

Initialize the stage library. Optionally pass in the arguments from main(), so Stage can read cmdline options. Stage then passes the arguments to GTK+ and Xlib so they can read their own options.

void stg_quit_request void   ) 

set stage's quit flag. Stage will quit cleanly very soon after this function is called.

int stg_quit_test void   ) 

if stage wants to quit, this will return non-zero

stg_msec_t stg_timenow void   ) 

Returns the real (wall-clock) time in milliseconds since the simulation started.

const char* stg_version_string void   ) 

Get a string identifying the version of stage. The string is generated by autoconf

Generated on Thu Dec 13 13:55:22 2007 for Stage by  doxygen 1.4.6