libstage

stage.hh File Reference

Detailed Description

Desc: External header file for the Stage library Author: Richard Vaughan (vaughan@sfu.ca) Date: 1 June 2003 SVN:
Id
stage.hh 6929 2008-07-25 23:17:00Z jeremy_asher

#include <unistd.h>
#include <stdint.h>
#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <iostream>
#include <vector>
#include <glib.h>
#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>
#include "option.hh"

Go to the source code of this file.


Namespaces

namespace  Stg
namespace  Stg::Draw

Classes

struct  Stg::ColoredVertex
struct  Stg::Draw::bounds3_t
struct  Stg::Draw::draw_t
struct  Stg::Draw::hdr_t
struct  Stg::Draw::rotate_t
struct  Stg::Draw::translate_t
struct  Stg::Draw::vertex_t
class  Stg::GlColorStack
struct  Stg::stg_bbox3d_t
struct  Stg::stg_bigblock_t
struct  Stg::stg_blinkenlight_t
struct  Stg::stg_blobfinder_blob_t
struct  Stg::stg_bounds3d_t
struct  Stg::stg_bounds_t
struct  Stg::stg_cb_t
struct  Stg::stg_colorvertex_t
struct  Stg::stg_energy_config_t
struct  Stg::stg_energy_data_t
struct  Stg::stg_fiducial_config_t
struct  Stg::stg_fiducial_t
struct  Stg::stg_fov_t
struct  Stg::stg_geom_t
struct  Stg::stg_laser_cfg_t
struct  Stg::stg_laser_sample_t
struct  Stg::stg_point3_t
struct  Stg::stg_point_int_t
struct  Stg::stg_point_t
struct  Stg::stg_pose_t
struct  Stg::stg_range_bounds_t
struct  Stg::stg_ranger_sensor_t
struct  Stg::stg_raytrace_sample_t
struct  Stg::stg_render_info_t
struct  Stg::stg_rotrect_t
struct  Stg::stg_size_t
struct  Stg::stg_trail_item_t
struct  Stg::stg_typetable_entry_t
struct  Stg::stg_vertex_t
class  Stg::StgAncestor
class  Stg::StgBlock
class  Stg::StgBlockGrid
class  Stg::StgCamera
class  Stg::StgCanvas
class  Stg::StgFlag
class  Stg::StgModel
 StgModel class More...
class  Stg::StgModelBlinkenlight
class  Stg::StgModelBlobfinder
 StgModelBlobfinder class More...
class  Stg::StgModelCamera
 StgModelCamera class More...
class  Stg::StgModelFiducial
 StgModelFiducial class More...
class  Stg::StgModelLaser
 StgModelLaser class More...
class  Stg::StgModelPosition
 StgModelPosition class More...
class  Stg::StgModelRanger
 StgModelRanger class More...
class  Stg::StgOrthoCamera
class  Stg::StgPerspectiveCamera
class  Stg::StgWorld
 StgWorld class More...
class  Stg::StgWorldGui

Defines

#define LISTFUNCTION(LIST, TYPE, FUNC)   for( GList* it=LIST; it; it=it->next ) FUNC((TYPE)it->data);
#define LISTFUNCTIONARG(LIST, TYPE, FUNC, ARG)   for( GList* it=LIST; it; it=it->next ) FUNC((TYPE)it->data, ARG);
#define LISTMETHOD(LIST, TYPE, METHOD)   for( GList* it=LIST; it; it=it->next ) ((TYPE)it->data)->METHOD();
#define LISTMETHODARG(LIST, TYPE, METHOD, ARG)   for( GList* it=LIST; it; it=it->next ) ((TYPE)it->data)->METHOD(ARG);
#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__)

Typedefs

typedef int Stg::ctrlinit_t (StgModel *mod)
typedef hdr_t Stg::Draw::pop_t
typedef hdr_t Stg::Draw::push_t
typedef bool(*) Stg::stg_block_match_func_t (StgBlock *candidate, StgModel *finder, const void *arg)
typedef uint32_t Stg::stg_bool_t
typedef uint32_t Stg::stg_color_t
typedef StgModel *(*) Stg::stg_creator_t (StgWorld *, StgModel *)
typedef uint32_t Stg::stg_id_t
typedef double Stg::stg_joules_t
typedef double Stg::stg_kg_t
typedef int(*) Stg::stg_line3d_func_t (int32_t x, int32_t y, int32_t z, void *arg)
typedef double Stg::stg_meters_t
typedef int(*) Stg::stg_model_callback_t (StgModel *mod, void *user)
typedef int(*) Stg::stg_model_callback_t (StgModel *mod, void *user)
typedef uint32_t Stg::stg_movemask_t
typedef unsigned long Stg::stg_msec_t
typedef double Stg::stg_radians_t
typedef timeval Stg::stg_time_t
typedef uint64_t Stg::stg_usec_t
typedef stg_pose_t Stg::stg_velocity_t
typedef double Stg::stg_watts_t

Enumerations

enum  { FiducialNone = 0 }
enum  Stg::stg_image_format_t { STG_IMAGE_FORMAT_PNG, STG_IMAGE_FORMAT_JPG }
enum  Stg::stg_laser_return_t { Stg::LaserTransparent, Stg::LaserVisible, LaserBright }
 laser return value More...
enum  Stg::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_COUNT
}
enum  Stg::stg_position_control_mode_t { STG_POSITION_CONTROL_VELOCITY, STG_POSITION_CONTROL_POSITION }
enum  Stg::stg_position_drive_mode_t { STG_POSITION_DRIVE_DIFFERENTIAL, STG_POSITION_DRIVE_OMNI, STG_POSITION_DRIVE_CAR }
enum  Stg::stg_position_localization_mode_t { STG_POSITION_LOCALIZATION_GPS, STG_POSITION_LOCALIZATION_ODOM }
enum  type_t {
  STG_D_DRAW_POINTS, STG_D_DRAW_LINES, STG_D_DRAW_LINE_STRIP, STG_D_DRAW_LINE_LOOP,
  STG_D_DRAW_TRIANGLES, STG_D_DRAW_TRIANGLE_STRIP, STG_D_DRAW_TRIANGLE_FAN, STG_D_DRAW_QUADS,
  STG_D_DRAW_QUAD_STRIP, STG_D_DRAW_POLYGON, STG_D_PUSH, STG_D_POP,
  STG_D_ROTATE, STG_D_TRANSLATE
}

Functions

stg_cb_t * Stg::cb_create (stg_model_callback_t callback, void *arg)
void Stg::cb_destroy (stg_cb_t *cb)
double Stg::constrain (double val, double minval, double maxval)
draw_t * Stg::Draw::create (type_t type, vertex_t *verts, size_t vert_count)
void Stg::Draw::destroy (draw_t *d)
double Stg::dtor (double d)
void Stg::gl_coord_shift (double x, double y, double z, double a)
void Stg::gl_draw_grid (stg_bounds3d_t vol)
void Stg::gl_draw_octagon (float w, float h, float m)
void Stg::gl_draw_string (float x, float y, float z, const char *str)
void Stg::gl_pose_shift (stg_pose_t *pose)
void Stg::gl_speech_bubble (float x, float y, float z, const char *str)
void Stg::Init (int *argc, char **argv[])
bool Stg::InitDone ()
stg_pose_t Stg::new_pose (stg_meters_t x, stg_meters_t y, stg_meters_t z, stg_radians_t a)
double Stg::normalize (double a)
stg_pose_t Stg::pose_sum (stg_pose_t p1, stg_pose_t p2)
stg_pose_t Stg::random_pose (stg_meters_t xmin, stg_meters_t xmax, stg_meters_t ymin, stg_meters_t ymax)
void Stg::RegisterModel (stg_model_type_t type, const char *name, stg_creator_t creator)
void Stg::RegisterModels ()
double Stg::rtod (double r)
double Stg::sgn (double a)
int Stg::sgn (int a)
void Stg::stg_block_list_destroy (GList *list)
void Stg::stg_block_list_scale (GList *blocks, stg_size_t *size)
stg_color_t Stg::stg_color_pack (double r, double g, double b, double a)
void Stg::stg_color_unpack (stg_color_t col, double *r, double *g, double *b, double *a)
int Stg::stg_line_3d (int32_t x, int32_t y, int32_t z, int32_t dx, int32_t dy, int32_t dz, stg_line3d_func_t visit_voxel, void *arg)
stg_color_t Stg::stg_lookup_color (const char *name)
stg_point_t * Stg::stg_points_create (size_t count)
void Stg::stg_points_destroy (stg_point_t *pts)
int Stg::stg_polygon_3d (stg_point_int_t *pts, unsigned int pt_count, stg_line3d_func_t visit_voxel, void *arg)
void Stg::stg_pose_sum (stg_pose_t *result, stg_pose_t *p1, stg_pose_t *p2)
void Stg::stg_print_err (const char *err)
void Stg::stg_print_geom (stg_geom_t *geom)
void Stg::stg_print_pose (stg_pose_t *pose)
void Stg::stg_print_velocity (stg_velocity_t *vel)
stg_msec_t Stg::stg_realtime (void)
stg_msec_t Stg::stg_realtime_since_start (void)
int Stg::stg_rotrects_from_image_file (const char *filename, stg_rotrect_t **rects, unsigned int *rect_count, unsigned int *widthp, unsigned int *heightp)
void Stg::stg_rotrects_normalize (stg_rotrect_t *rects, int num)
stg_point_t * Stg::stg_unit_square_points_create (void)

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 uint32_t Stg::INTERVAL_LOG_LEN = 32
const char Stg::LICENSE []
 Project distribution license string.
const double Stg::million = 1e6
const uint32_t Stg::STG_MOVE_ROT = (1 << 1)
const uint32_t Stg::STG_MOVE_SCALE = (1 << 2)
const uint32_t Stg::STG_MOVE_TRANS = (1 << 0)
const char Stg::STG_MP_COLOR [] = "_mp_color"
const char Stg::STG_MP_FIDUCIAL_RETURN [] = "_mp_fiducial_return"
const char Stg::STG_MP_GEOM [] = "_mp_geom"
const char Stg::STG_MP_GRIPPER_RETURN [] = "_mp_gripper_return"
const char Stg::STG_MP_LASER_RETURN [] = "_mp_laser_return"
const char Stg::STG_MP_MASS [] = "_mp_mass"
const char Stg::STG_MP_OBSTACLE_RETURN [] = "_mp_obstacle_return"
const char Stg::STG_MP_POSE [] = "_mp_pose"
const char Stg::STG_MP_PREFIX [] = "_mp_"
const char Stg::STG_MP_RANGER_RETURN [] = "_mp_ranger_return"
const char Stg::STG_MP_VELOCITY [] = "_mp_velocity"
const char Stg::STG_MP_WATTS [] = "_mp_watts"
const double Stg::thousand = 1e3
const uint32_t Stg::TOKEN_MAX = 64
stg_typetable_entry_t Stg::typetable [MODEL_TYPE_COUNT]
const char Stg::WEBSITE [] = "http://playerstage.org"
 Project website string.
Generated on Wed Jul 30 11:36:06 2008 for Stage by  doxygen 1.4.7