model.c File Reference

#include <limits.h>
#include <assert.h>
#include <math.h>
#include "stage_internal.h"
#include "gui.h"


Defines
#define	_GNU_SOURCE
#define	GLOBAL_VECTORS 0
#define	POLYGON_RENDER_CALLBACK model_render_polygons
#define	STG_DEFAULT_BLOBRETURN TRUE
#define	STG_DEFAULT_COLOR (0xFF0000)
#define	STG_DEFAULT_ENERGY_CAPACITY 1000.0
#define	STG_DEFAULT_ENERGY_CHARGEENABLE 1
#define	STG_DEFAULT_ENERGY_GIVERATE 0.0
#define	STG_DEFAULT_ENERGY_PROBERANGE 0.0
#define	STG_DEFAULT_ENERGY_TRICKLERATE 0.1
#define	STG_DEFAULT_GEOM_POSEA 0.0
#define	STG_DEFAULT_GEOM_POSEX 0.0
#define	STG_DEFAULT_GEOM_POSEY 0.0
#define	STG_DEFAULT_GEOM_SIZEX 1.0
#define	STG_DEFAULT_GEOM_SIZEY 1.0
#define	STG_DEFAULT_GRID FALSE
#define	STG_DEFAULT_LASERRETURN LaserVisible
#define	STG_DEFAULT_MAP_RESOLUTION 0.1
#define	STG_DEFAULT_MASK (STG_MOVE_TRANS \| STG_MOVE_ROT)
#define	STG_DEFAULT_MASS 10.0
#define	STG_DEFAULT_NOSE FALSE
#define	STG_DEFAULT_OBSTACLERETURN TRUE
#define	STG_DEFAULT_OUTLINE TRUE
#define	STG_DEFAULT_POSEA 0.0
#define	STG_DEFAULT_POSEX 0.0
#define	STG_DEFAULT_POSEY 0.0
#define	STG_DEFAULT_RANGERRETURN TRUE
Functions
int	_model_update (stg_model_t *mod)
int	lines_raytrace_match (stg_model_t mod, stg_model_t hitmod)
void	model_call_callbacks (stg_model_t mod, void address)
void	model_change (stg_model_t mod, void address)
void	model_destroy_cb (gpointer mod)
void	model_print_cb (gpointer key, gpointer value, gpointer user)
int	model_render_velocity (stg_model_t mod, void enabled)
int	model_unrender_velocity (stg_model_t mod, void userp)
void	model_update_cb (gpointer key, gpointer value, gpointer user)
void	pose_invert (stg_pose_t *pose)
void	stg_get_default_geom (stg_geom_t *geom)
void	stg_get_default_pose (stg_pose_t *pose)
void	stg_model_add_callback (stg_model_t mod, void address, stg_model_callback_t cb, void *user)
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)
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 gpose)
void	stg_model_get_global_velocity (stg_model_t mod, stg_velocity_t gv)
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_local_to_global (stg_model_t mod, stg_pose_t pose)
void	stg_model_map (stg_model_t *mod, gboolean render)
void	stg_model_map_with_children (stg_model_t *mod, gboolean render)
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_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 val)
void	stg_model_set_geom (stg_model_t mod, stg_geom_t geom)
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 gv)
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_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_polylines (stg_model_t mod, stg_polyline_t lines, size_t lines_count)
void	stg_model_set_pose (stg_model_t mod, stg_pose_t pose)
void	stg_model_set_property (stg_model_t mod, char key, void *data, size_t len)
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)
stg_model_t *	stg_model_test_collision (stg_model_t mod, double hitx, double *hity)
int	stg_model_tree_to_ptr_array (stg_model_t root, GPtrArray array)
void	stg_model_unsubscribe (stg_model_t *mod)
int	stg_model_update (stg_model_t *mod)
int	stg_model_update_pose (stg_model_t *mod)
void	stg_polyline_print (stg_polyline_t *l)
void	stg_polylines_print (stg_polyline_t *l, size_t p_count)
Variables
int	_stg_disable_gui
stg_rtk_fig_t *	fig_debug_rays
stg_type_record_t	typetable []

Define Documentation

#define _GNU_SOURCE

#define GLOBAL_VECTORS 0

#define POLYGON_RENDER_CALLBACK model_render_polygons

#define STG_DEFAULT_BLOBRETURN TRUE

#define STG_DEFAULT_COLOR (0xFF0000)

#define STG_DEFAULT_ENERGY_CAPACITY 1000.0

#define STG_DEFAULT_ENERGY_CHARGEENABLE 1

#define STG_DEFAULT_ENERGY_GIVERATE 0.0

#define STG_DEFAULT_ENERGY_PROBERANGE 0.0

#define STG_DEFAULT_ENERGY_TRICKLERATE 0.1

#define STG_DEFAULT_GEOM_POSEA 0.0

#define STG_DEFAULT_GEOM_POSEX 0.0

#define STG_DEFAULT_GEOM_POSEY 0.0

#define STG_DEFAULT_GEOM_SIZEX 1.0

#define STG_DEFAULT_GEOM_SIZEY 1.0

#define STG_DEFAULT_GRID FALSE

#define STG_DEFAULT_LASERRETURN LaserVisible

#define STG_DEFAULT_MAP_RESOLUTION 0.1

#define STG_DEFAULT_MASK (STG_MOVE_TRANS | STG_MOVE_ROT)

#define STG_DEFAULT_MASS 10.0

#define STG_DEFAULT_NOSE FALSE

#define STG_DEFAULT_OBSTACLERETURN TRUE

#define STG_DEFAULT_OUTLINE TRUE

#define STG_DEFAULT_POSEA 0.0

#define STG_DEFAULT_POSEX 0.0

#define STG_DEFAULT_POSEY 0.0

#define STG_DEFAULT_RANGERRETURN TRUE

Function Documentation

int lines_raytrace_match	(	stg_model_t *	mod,
		stg_model_t *	hitmod
	)

void model_call_callbacks	(	stg_model_t *	mod,
		void *	address
	)

int model_render_velocity	(	stg_model_t *	mod,
		void *	enabled
	)

int model_unrender_velocity	(	stg_model_t *	mod,
		void *	userp
	)

void pose_invert

(

stg_pose_t *

pose

)

void stg_get_default_geom

(

stg_geom_t *

geom

)

void stg_get_default_pose

(

stg_pose_t *

pose

)

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

void stg_model_set_property	(	stg_model_t *	mod,
		char *	key,
		void *	data,
		size_t	len
	)

stg_model_t* stg_model_test_collision	(	stg_model_t *	mod,
		double *	hitx,
		double *	hity
	)

int stg_model_tree_to_ptr_array	(	stg_model_t *	root,
		GPtrArray *	array
	)

void stg_polyline_print

(

stg_polyline_t *

)

void stg_polylines_print	(	stg_polyline_t *	l,
		size_t	p_count
	)

Variable Documentation

int _stg_disable_gui

stg_rtk_fig_t* fig_debug_rays

stg_type_record_t typetable[]

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

1.4.6

model.c File Reference

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation