Models
[libstage API reference]

Detailed Description

Implements the basic object


Data Structures
struct	stg_blobfinder_blob_t
struct	stg_blobfinder_config_t
struct	stg_bumper_config_t
struct	stg_bumper_sample_t
struct	stg_energy_config_t
struct	stg_energy_data_t
struct	stg_fiducial_config_t
struct	stg_fiducial_t
struct	stg_gripper_cmd_t
struct	stg_gripper_config_t
struct	stg_gripper_data_t
struct	stg_laser_config_t
struct	stg_laser_sample_t
struct	stg_model_t
struct	stg_position_cfg_t
struct	stg_position_cmd_t
struct	stg_position_data_t
struct	stg_ptz_config_t
struct	stg_ranger_config_t
struct	stg_ranger_sample_t
struct	stg_speech_cmd_t
struct	stg_speech_config_t
struct	stg_speech_data_t
struct	stg_wifi_config_t
struct	stg_wifi_data_t
Defines
#define	STG_BLOB_CHANNELS_MAX 16
#define	STG_MOVE_ROT (1 << 1)
#define	STG_MOVE_SCALE (1 << 2)
#define	STG_MOVE_TRANS (1 << 0)
#define	STG_POSITION_CONTROL_DEFAULT STG_POSITION_CONTROL_VELOCITY
#define	STG_POSITION_DRIVE_DEFAULT STG_POSITION_DRIVE_DIFFERENTIAL
#define	STG_POSITION_LOCALIZATION_DEFAULT STG_POSITION_LOCALIZATION_GPS
#define	STG_SPEECH_MAX_STRING_LEN 256
Typedefs
typedef int(*	stg_model_callback_t )(stg_model_t mod, void user)
typedef int(*	stg_model_initializer_t )(stg_model_t *)
typedef int	stg_movemask_t
typedef stg_ptz_t	stg_ptz_cmd_t
typedef stg_ptz_t	stg_ptz_data_t
Enumerations
enum	stg_gripper_cmd_type_t { STG_GRIPPER_CMD_NOP = 0, STG_GRIPPER_CMD_OPEN, STG_GRIPPER_CMD_CLOSE, STG_GRIPPER_CMD_UP, STG_GRIPPER_CMD_DOWN }
enum	stg_gripper_lift_state_t { STG_GRIPPER_LIFT_DOWN = 0, STG_GRIPPER_LIFT_UP, STG_GRIPPER_LIFT_UPPING, STG_GRIPPER_LIFT_DOWNING }
enum	stg_gripper_paddle_state_t { STG_GRIPPER_PADDLE_OPEN = 0, STG_GRIPPER_PADDLE_CLOSED, STG_GRIPPER_PADDLE_OPENING, STG_GRIPPER_PADDLE_CLOSING }
enum	stg_laser_return_t { LaserTransparent, LaserVisible, LaserBright }
enum	stg_position_control_mode_t { STG_POSITION_CONTROL_VELOCITY, STG_POSITION_CONTROL_POSITION, STG_POSITION_CONTROL_VELOCITY_HEADING }
enum	stg_position_drive_mode_t { STG_POSITION_DRIVE_DIFFERENTIAL, STG_POSITION_DRIVE_OMNI, STG_POSITION_DRIVE_CAR }
enum	stg_position_localization_mode_t { STG_POSITION_LOCALIZATION_GPS, STG_POSITION_LOCALIZATION_ODOM }
enum	stg_speech_cmd_type_t { STG_SPEECH_CMD_NOP = 0, STG_SPEECH_CMD_SAY }
Functions
void	stg_model_add_callback (stg_model_t mod, void member, stg_model_callback_t cb, void *user)
void	stg_model_add_property_toggles (stg_model_t mod, void member, stg_model_callback_t callback_on, void arg_on, stg_model_callback_t callback_off, void arg_off, const char name, const char label, gboolean enabled)
GPtrArray *	stg_model_array_from_tree (stg_model_t *root)
stg_model_t *	stg_model_create (stg_world_t world, stg_model_t parent, stg_id_t id, char *typestr)
void	stg_model_destroy (stg_model_t *mod)
int	stg_model_fig_clear_cb (stg_model_t mod, void data, size_t len, void *userp)
void *	stg_model_get_cfg (stg_model_t mod, size_t lenp)
void *	stg_model_get_cmd (stg_model_t mod, size_t lenp)
void *	stg_model_get_data (stg_model_t mod, size_t lenp)
void	stg_model_get_geom (stg_model_t mod, stg_geom_t dest)
void	stg_model_get_global_pose (stg_model_t mod, stg_pose_t pose)
void	stg_model_get_global_velocity (stg_model_t mod, stg_velocity_t gvel)
stg_polygon_t *	stg_model_get_polygons (stg_model_t mod, size_t poly_count)
void	stg_model_get_pose (stg_model_t mod, stg_pose_t dest)
void	stg_model_get_velocity (stg_model_t mod, stg_velocity_t dest)
void	stg_model_global_to_local (stg_model_t mod, stg_pose_t pose)
int	stg_model_is_antecedent (stg_model_t mod, stg_model_t testmod)
int	stg_model_is_descendent (stg_model_t mod, stg_model_t testmod)
int	stg_model_is_related (stg_model_t mod1, stg_model_t mod2)
void	stg_model_load (stg_model_t *mod)
void	stg_model_local_to_global (stg_model_t mod, stg_pose_t pose)
void	stg_model_position_set_odom (stg_model_t mod, stg_pose_t odom)
void	stg_model_print (stg_model_t mod, char prefix)
int	stg_model_remove_callback (stg_model_t mod, void member, stg_model_callback_t callback)
stg_model_t *	stg_model_root (stg_model_t *mod)
void	stg_model_save (stg_model_t *mod)
void	stg_model_set_blob_return (stg_model_t *mod, int val)
void	stg_model_set_boundary (stg_model_t *mod, int val)
void	stg_model_set_cfg (stg_model_t mod, void cfg, size_t len)
void	stg_model_set_cmd (stg_model_t mod, void cmd, size_t len)
void	stg_model_set_color (stg_model_t *mod, stg_color_t col)
void	stg_model_set_data (stg_model_t mod, void data, size_t len)
void	stg_model_set_fiducial_key (stg_model_t *mod, int key)
void	stg_model_set_fiducial_return (stg_model_t *mod, int fid)
void	stg_model_set_geom (stg_model_t mod, stg_geom_t src)
void	stg_model_set_global_pose (stg_model_t mod, stg_pose_t gpose)
void	stg_model_set_global_velocity (stg_model_t mod, stg_velocity_t gvel)
void	stg_model_set_gripper_return (stg_model_t *mod, int val)
void	stg_model_set_gui_grid (stg_model_t *mod, int val)
void	stg_model_set_gui_mask (stg_model_t *mod, int val)
void	stg_model_set_gui_nose (stg_model_t *mod, int val)
void	stg_model_set_gui_outline (stg_model_t *mod, int val)
void	stg_model_set_laser_return (stg_model_t *mod, int val)
void	stg_model_set_lines (stg_model_t mod, stg_polyline_t lines, size_t lines_count)
void	stg_model_set_map_resolution (stg_model_t *mod, stg_meters_t res)
void	stg_model_set_mass (stg_model_t *mod, stg_kg_t mass)
int	stg_model_set_named_property_double (stg_model_t mod, char name, size_t len, double value)
int	stg_model_set_named_property_int (stg_model_t mod, char name, size_t len, int value)
void	stg_model_set_obstacle_return (stg_model_t *mod, int val)
int	stg_model_set_parent (stg_model_t mod, stg_model_t newparent)
void	stg_model_set_polygons (stg_model_t mod, stg_polygon_t polys, size_t poly_count)
void	stg_model_set_pose (stg_model_t mod, stg_pose_t pose)
void	stg_model_set_ranger_return (stg_model_t *mod, int val)
void	stg_model_set_stall (stg_model_t *mod, stg_bool_t stall)
void	stg_model_set_velocity (stg_model_t mod, stg_velocity_t vel)
void	stg_model_set_watts (stg_model_t *mod, stg_watts_t watts)
int	stg_model_shutdown (stg_model_t *mod)
int	stg_model_startup (stg_model_t *mod)
void	stg_model_subscribe (stg_model_t *mod)
void	stg_model_unsubscribe (stg_model_t *mod)
int	stg_model_update (stg_model_t *model)

Define Documentation

#define STG_BLOB_CHANNELS_MAX 16

#define STG_MOVE_ROT (1 << 1)

#define STG_MOVE_SCALE (1 << 2)

#define STG_MOVE_TRANS (1 << 0)

#define STG_POSITION_CONTROL_DEFAULT STG_POSITION_CONTROL_VELOCITY

#define STG_POSITION_DRIVE_DEFAULT STG_POSITION_DRIVE_DIFFERENTIAL

#define STG_POSITION_LOCALIZATION_DEFAULT STG_POSITION_LOCALIZATION_GPS

#define STG_SPEECH_MAX_STRING_LEN 256

Typedef Documentation

typedef int(* stg_model_callback_t)(stg_model_t *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 int(* stg_model_initializer_t)(stg_model_t *)

function type for an initialization function that configures a specialized model. Each special model type (laser, position, etc) has a single initializer function that is called when the model type is specified in the worldfile. The mapping is done in a table in typetable.cc.

typedef int stg_movemask_t

typedef stg_ptz_t stg_ptz_cmd_t

ptz command: specify desired PTZ angles. Tilt has no effect.

typedef stg_ptz_t stg_ptz_data_t

ptz data: specifies actual PTZ angles.

Enumeration Type Documentation

enum stg_gripper_cmd_type_t

Enumerator:

STG_GRIPPER_CMD_NOP
STG_GRIPPER_CMD_OPEN
STG_GRIPPER_CMD_CLOSE
STG_GRIPPER_CMD_UP
STG_GRIPPER_CMD_DOWN

enum stg_gripper_lift_state_t

Enumerator:

STG_GRIPPER_LIFT_DOWN
STG_GRIPPER_LIFT_UP
STG_GRIPPER_LIFT_UPPING
STG_GRIPPER_LIFT_DOWNING

enum stg_gripper_paddle_state_t

Enumerator:

STG_GRIPPER_PADDLE_OPEN
STG_GRIPPER_PADDLE_CLOSED
STG_GRIPPER_PADDLE_OPENING
STG_GRIPPER_PADDLE_CLOSING

enum 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

enum stg_position_control_mode_t

Enumerator:

STG_POSITION_CONTROL_VELOCITY
STG_POSITION_CONTROL_POSITION
STG_POSITION_CONTROL_VELOCITY_HEADING

enum stg_position_drive_mode_t

"position_drive" property

Enumerator:

STG_POSITION_DRIVE_DIFFERENTIAL
STG_POSITION_DRIVE_OMNI
STG_POSITION_DRIVE_CAR

enum stg_position_localization_mode_t

Enumerator:

STG_POSITION_LOCALIZATION_GPS
STG_POSITION_LOCALIZATION_ODOM

enum stg_speech_cmd_type_t

Enumerator:

STG_SPEECH_CMD_NOP
STG_SPEECH_CMD_SAY

Function Documentation

void stg_model_add_callback	(	stg_model_t *	mod,
		void *	member,
		stg_model_callback_t	cb,
		void *	user
	)

void stg_model_add_property_toggles	(	stg_model_t *	mod,
		void *	member,
		stg_model_callback_t	callback_on,
		void *	arg_on,
		stg_model_callback_t	callback_off,
		void *	arg_off,
		const char *	name,
		const char *	label,
		gboolean	enabled
	)

add an item to the View menu that will automatically install and remove a callback when the item is toggled. The specialized model types use this call to set up their data visualization.

GPtrArray* stg_model_array_from_tree

(

stg_model_t *

root

)

Convert a tree of models into a GPtrArray containing the same models.

stg_model_t* stg_model_create	(	stg_world_t *	world,
		stg_model_t *	parent,
		stg_id_t	id,
		char *	typestr
	)

create a new model

void stg_model_destroy

(

stg_model_t *

mod

)

destroy a model, freeing its memory

int stg_model_fig_clear_cb	(	stg_model_t *	mod,
		void *	data,
		size_t	len,
		void *	userp
	)

void* stg_model_get_cfg	(	stg_model_t *	mod,
		size_t *	lenp
	)

void* stg_model_get_cmd	(	stg_model_t *	mod,
		size_t *	lenp
	)

void* stg_model_get_data	(	stg_model_t *	mod,
		size_t *	lenp
	)

void stg_model_get_geom	(	stg_model_t *	mod,
		stg_geom_t *	dest
	)

Get a model's geometry - it's size and local pose (offset from origin in local coords)

void stg_model_get_global_pose	(	stg_model_t *	mod,
		stg_pose_t *	pose
	)

get the pose of a model in the global CS

void stg_model_get_global_velocity	(	stg_model_t *	mod,
		stg_velocity_t *	gvel
	)

get the velocity of a model in the global CS

stg_polygon_t* stg_model_get_polygons	(	stg_model_t *	mod,
		size_t *	poly_count
	)

gets a model's "polygons" property and fills poly_count with the number of polygons to be found

void stg_model_get_pose	(	stg_model_t *	mod,
		stg_pose_t *	dest
	)

Get the pose of a model in its parent's coordinate system

void stg_model_get_velocity	(	stg_model_t *	mod,
		stg_velocity_t *	dest
	)

Get a model's velocity (in its local reference frame)

void stg_model_global_to_local	(	stg_model_t *	mod,
		stg_pose_t *	pose
	)

Convert a pose in the world coordinate system into a model's local coordinate system. Overwrites [pose] with the new coordinate.

int stg_model_is_antecedent	(	stg_model_t *	mod,
		stg_model_t *	testmod
	)

returns TRUE iff [testmod] exists above [mod] in a model tree

int stg_model_is_descendent	(	stg_model_t *	mod,
		stg_model_t *	testmod
	)

returns TRUE iff [testmod] exists below [mod] in a model tree

int stg_model_is_related	(	stg_model_t *	mod1,
		stg_model_t *	mod2
	)

returns TRUE iff [mod1] and [mod2] both exist in the same model tree

void stg_model_load

(

stg_model_t *

mod

)

configure a model by reading from the current world file

void stg_model_local_to_global	(	stg_model_t *	mod,
		stg_pose_t *	pose
	)

Convert a pose in the model's local coordinate system into the world coordinate system. Overwrites [pose] with the new coordinate.

void stg_model_position_set_odom	(	stg_model_t *	mod,
		stg_pose_t *	odom
	)

set the current odometry estimate

void stg_model_print	(	stg_model_t *	mod,
		char *	prefix
	)

Attach arbitrary data to a model.

print human-readable information about the model on stdout. If prefix is non-null, it is printed first.

int stg_model_remove_callback	(	stg_model_t *	mod,
		void *	member,
		stg_model_callback_t	callback
	)

stg_model_t* stg_model_root

(

stg_model_t *

mod

)

return the top-level model above mod

void stg_model_save

(

stg_model_t *

mod

)

save the state of the model to the current world file

void stg_model_set_blob_return	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_boundary	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_cfg	(	stg_model_t *	mod,
		void *	cfg,
		size_t	len
	)

void stg_model_set_cmd	(	stg_model_t *	mod,
		void *	cmd,
		size_t	len
	)

void stg_model_set_color	(	stg_model_t *	mod,
		stg_color_t	col
	)

void stg_model_set_data	(	stg_model_t *	mod,
		void *	data,
		size_t	len
	)

void stg_model_set_fiducial_key	(	stg_model_t *	mod,
		int	key
	)

set a model's fiducial key: only fiducial finders with a matching key can detect this model as a fiducial.

void stg_model_set_fiducial_return	(	stg_model_t *	mod,
		int	fid
	)

set a model's geometry (size and center offsets)

void stg_model_set_geom	(	stg_model_t *	mod,
		stg_geom_t *	src
	)

set a model's geometry (size and center offsets)

void stg_model_set_global_pose	(	stg_model_t *	mod,
		stg_pose_t *	gpose
	)

set the pose of model in global coordinates

void stg_model_set_global_velocity	(	stg_model_t *	mod,
		stg_velocity_t *	gvel
	)

void stg_model_set_gripper_return	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_gui_grid	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_gui_mask	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_gui_nose	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_gui_outline	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_laser_return	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_lines	(	stg_model_t *	mod,
		stg_polyline_t *	lines,
		size_t	lines_count
	)

set an array oflines to be drawn for the model

void stg_model_set_map_resolution	(	stg_model_t *	mod,
		stg_meters_t	res
	)

void stg_model_set_mass	(	stg_model_t *	mod,
		stg_kg_t	mass
	)

int stg_model_set_named_property_double	(	stg_model_t *	mod,
		char *	name,
		size_t	len,
		double	value
	)

Set a floating-point property of a Stage model.

Set a floating-point property of a Stage model. The property is identified by the same string used in the world file. Warning: only a subset of a model's properties are supported. Check the function definition in src/model.c to see them. TODO: use this mechanism to load properties from the worldfile?

int stg_model_set_named_property_int	(	stg_model_t *	mod,
		char *	name,
		size_t	len,
		int	value
	)

Set an integer property of a Stage model.

Set an integer property of a Stage model. The property is identified by the same string used in the world file. Warning: only a subset of a model's properties are supported. Check the function definition in src/model.c to see them. TODO: use this mechanism to load properties from the worldfile?

void stg_model_set_obstacle_return	(	stg_model_t *	mod,
		int	val
	)

int stg_model_set_parent	(	stg_model_t *	mod,
		stg_model_t *	newparent
	)

Change a model's parent - experimental

void stg_model_set_polygons	(	stg_model_t *	mod,
		stg_polygon_t *	polys,
		size_t	poly_count
	)

void stg_model_set_pose	(	stg_model_t *	mod,
		stg_pose_t *	pose
	)

set a model's pose in its parent's coordinate system

void stg_model_set_ranger_return	(	stg_model_t *	mod,
		int	val
	)

void stg_model_set_stall	(	stg_model_t *	mod,
		stg_bool_t	stall
	)

void stg_model_set_velocity	(	stg_model_t *	mod,
		stg_velocity_t *	vel
	)

set a model's velocity in its parent's coordinate system

void stg_model_set_watts	(	stg_model_t *	mod,
		stg_watts_t	watts
	)

int stg_model_shutdown

(

stg_model_t *

mod

)

finalize a model - called when a model goes from one to zero subscriptions

int stg_model_startup

(

stg_model_t *

mod

)

initialize a model - called when a model goes from zero to one subscriptions

void stg_model_subscribe

(

stg_model_t *

mod

)

subscribe to a model's data

void stg_model_unsubscribe

(

stg_model_t *

mod

)

unsubscribe from a model's data

int stg_model_update

(

stg_model_t *

model

)

Update a model by one simulation timestep. This is called by stg_world_update(), so users don't usually need to call this.

Generated on Thu Dec 13 14:35:18 2007 for Stage by

1.4.6

Models [libstage API reference]

Detailed Description

Data Structures

Defines

Typedefs

Enumerations

Functions

Define Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Models
[libstage API reference]