stage.hh File Reference

#include <unistd.h>
#include <stdint.h>
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <pthread.h>
#include <cmath>
#include <iostream>
#include <vector>
#include <list>
#include <map>
#include <ext/hash_map>
#include <set>
#include <queue>
#include <algorithm>
#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 dependency graph for stage.hh:

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Classes
class	Stg::Ancestor
class	Stg::Block
class	Stg::BlockGroup
class	Stg::Bounds
class	Stg::CallbackHooks
class	Stg::Camera
class	Stg::Color
class	Stg::Flag
class	Stg::Geom
class	Stg::GuiState
class	Stg::LogEntry
class	Stg::Model
	Model class More...
class	Stg::Model::RasterVis
class	Stg::Model::stg_cb_t
class	Stg::ModelActuator
	ModelActuator class More...
class	Stg::ModelBlinkenlight
class	Stg::ModelBlobfinder
	ModelBlobfinder class More...
class	Stg::ModelBlobfinder::Blob
class	Stg::ModelBlobfinder::Vis
class	Stg::ModelCamera
	ModelCamera class More...
struct	Stg::ModelCamera::ColoredVertex
class	Stg::ModelFiducial
	ModelFiducial class More...
class	Stg::ModelFiducial::Fiducial
class	Stg::ModelGripper
struct	Stg::ModelGripper::config_t
class	Stg::ModelLaser
	ModelLaser class More...
class	Stg::ModelLaser::Config
class	Stg::ModelLaser::Sample
class	Stg::ModelLaser::Vis
class	Stg::ModelLightIndicator
class	Stg::ModelLoadCell
	ModelLoadCell class More...
class	Stg::ModelPosition
	ModelPosition class More...
class	Stg::ModelPosition::PoseVis
class	Stg::ModelPosition::WaypointVis
class	Stg::ModelRanger
	ModelRanger class More...
class	Stg::ModelRanger::Sensor
class	Stg::OrthoCamera
class	Stg::PerspectiveCamera
class	Stg::Pose
class	Stg::PowerPack
class	Stg::PowerPack::DissipationVis
class	Stg::Ray
class	Stg::RaytraceResult
class	Stg::Size
struct	Stg::stg_blinkenlight_t
class	Stg::stg_bounds3d_t
struct	Stg::stg_fov_t
class	Stg::stg_point3_t
class	Stg::stg_point_int_t
class	Stg::stg_point_t
struct	Stg::stg_rotrect_t
class	Stg::StripPlotVis
class	Stg::TrailItem
class	Stg::Velocity
class	Stg::Visibility
class	Stg::Visualizer
class	Stg::Waypoint
class	Stg::World
	World class More...
struct	Stg::World::eqstr
class	Stg::WorldGui
Namespaces
namespace	Stg
	The Stage library uses its own namespace.
namespace	Stg::Gl
Defines
#define	FOR_EACH(I, C)   for(VAR(I,(C).begin());I!=(C).end();I++)
#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__)
#define	VAR(V, init)   __typeof(init) V=(init)
Typedefs
typedef std::vector< Block * >	Stg::BlockPtrVec
typedef std::vector< Cell * >	Stg::CellPtrVec
typedef int	Stg::ctrlinit_t (Model *mod)
typedef std::set< Model * >	Stg::ModelPtrSet
typedef std::vector< Model * >	Stg::ModelPtrVec
typedef std::vector < stg_point_int_t >	Stg::PointIntVec
typedef bool	Stg::stg_bool_t
typedef Model *(*	Stg::stg_creator_t )(World *, Model *)
typedef uint32_t	Stg::stg_id_t
typedef double	Stg::stg_joules_t
typedef double	Stg::stg_kg_t
typedef double	Stg::stg_meters_t
typedef int(*	Stg::stg_model_callback_t )(Model *mod, void *user)
typedef uint32_t	Stg::stg_movemask_t
typedef unsigned long	Stg::stg_msec_t
typedef double	Stg::stg_radians_t
typedef bool(*	Stg::stg_ray_test_func_t )(Model *candidate, Model *finder, const void *arg)
typedef RaytraceResult	Stg::stg_raytrace_result_t
typedef struct timeval	Stg::stg_time_t
typedef uint64_t	Stg::stg_usec_t
typedef double	Stg::stg_watts_t
typedef int(*	Stg::stg_world_callback_t )(World *world, void *user)
typedef std::pair< const char *, stg_creator_t >	Stg::TypeEntry
Enumerations
enum	{ Stg::FiducialNone = 0 }
enum	Stg::stg_laser_return_t { Stg::LaserTransparent = 0, Stg::LaserVisible, Stg::LaserBright }
	laser return value More...
enum	Stg::stg_model_type_t {   Stg::MODEL_TYPE_PLAIN = 0, Stg::MODEL_TYPE_LASER, Stg::MODEL_TYPE_FIDUCIAL, Stg::MODEL_TYPE_RANGER,   Stg::MODEL_TYPE_POSITION, Stg::MODEL_TYPE_BLOBFINDER, Stg::MODEL_TYPE_BLINKENLIGHT, Stg::MODEL_TYPE_CAMERA,   Stg::MODEL_TYPE_GRIPPER, Stg::MODEL_TYPE_ACTUATOR, Stg::MODEL_TYPE_LOADCELL, Stg::MODEL_TYPE_LIGHTINDICATOR,   Stg::MODEL_TYPE_COUNT }
Functions
double	Stg::constrain (double val, double minval, double maxval)
void	Stg::Gl::coord_shift (double x, double y, double z, double a)
void	Stg::Gl::draw_array (float x, float y, float w, float h, float *data, size_t len, size_t offset)
void	Stg::Gl::draw_array (float x, float y, float w, float h, float *data, size_t len, size_t offset, float min, float max)
void	Stg::Gl::draw_centered_rect (float x, float y, float dx, float dy)
void	Stg::Gl::draw_grid (stg_bounds3d_t vol)
void	Stg::Gl::draw_octagon (float x, float y, float w, float h, float m)
void	Stg::Gl::draw_octagon (float w, float h, float m)
void	Stg::Gl::draw_origin (double len)
void	Stg::Gl::draw_speech_bubble (float x, float y, float z, const char *str)
void	Stg::Gl::draw_string (float x, float y, float z, const char *string)
void	Stg::Gl::draw_string_multiline (float x, float y, float w, float h, const char *string, Fl_Align align)
void	Stg::Gl::draw_vector (double x, double y, double z)
double	Stg::dtor (double d)
void	Stg::Init (int *argc, char **argv[])
bool	Stg::InitDone ()
double	Stg::normalize (double a)
void	Stg::Gl::pose_inverse_shift (const Pose &pose)
void	Stg::Gl::pose_shift (const Pose &pose)
void	Stg::RegisterModels ()
double	Stg::rtod (double r)
double	Stg::sgn (double a)
int	Stg::sgn (int a)
int	Stg::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::stg_unit_square_points_create ()
const char *	Stg::Version ()
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 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
const uint32_t	Stg::TOKEN_MAX = 64
const char	Stg::WEBSITE [] = "http://playerstage.org"
	Project website string.

---

Detailed Description

Desc: External header file for the Stage library Author: Richard Vaughan (vaughan@sfu.ca) Date: 1 June 2003 SVN:

Id

stage.hh 8070 2009-07-22 06:41:10Z rtv

---

Define Documentation

#define FOR_EACH	(	I,
		C		)	for(VAR(I,(C).begin());I!=(C).end();I++)

#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__)

#define VAR	(	V,
		init		)	__typeof(init) V=(init)