Stg::StgModel Class Reference

#include <stage.hh>

Inherited by Stg::StgModelBlinkenlight, Stg::StgModelBlobfinder, Stg::StgModelFiducial, Stg::StgModelLaser, Stg::StgModelPosition, and Stg::StgModelRanger.

List of all members.


Public Member Functions
void	AddBlinkenlight (stg_blinkenlight_t *b)
void	AddBlock (stg_point_t *pts, size_t pt_count, stg_meters_t zmin, stg_meters_t zmax, stg_color_t color, bool inherit_color)
void	AddBlockRect (double x, double y, double width, double height)
void	AddCallback (void address, stg_model_callback_t cb, void user)
void	AddFlag (StgFlag *flag)
void	AddLoadCallback (stg_model_callback_t cb, void *user)
void	AddPropertyToggles (void member, stg_model_callback_t callback_on, void arg_on, stg_model_callback_t callback_off, void arg_off, char name, char *label, gboolean enabled)
void	AddSaveCallback (stg_model_callback_t cb, void *user)
void	AddShutdownCallback (stg_model_callback_t cb, void *user)
void	AddStartupCallback (stg_model_callback_t cb, void *user)
void	AddToPose (double dx, double dy, double dz, double da)
void	AddToPose (stg_pose_t pose)
void	AddUpdateCallback (stg_model_callback_t cb, void *user)
void	CallCallbacks (void *address)
void	ClearBlinkenlights ()
void	ClearBlocks ()
bool	DataIsFresh ()
void	Disable ()
void	DrawFlagList ()
void	Enable ()
int	FiducialKey ()
int	FiducialReturn ()
stg_color_t	GetColor ()
int	GetFlagCount ()
stg_geom_t	GetGeom ()
stg_pose_t	GetGlobalPose ()
stg_velocity_t	GetGlobalVelocity ()
stg_laser_return_t	GetLaserReturn ()
StgModel *	GetModel (const char *name)
stg_pose_t	GetPose ()
void *	GetProperty (char *key)
int	GetRangerReturn ()
StgModel *	GetUnsubscribedModelOfType (char *modelstr)
stg_velocity_t	GetVelocity ()
StgWorld *	GetWorld ()
void	GlobalToLocal (stg_pose_t *pose)
int	GuiMask ()
stg_id_t	Id ()
void	Init ()
bool	IsAntecedent (StgModel *testmod)
bool	IsDescendent (StgModel *testmod)
bool	IsRelated (StgModel *mod2)
virtual void	Load ()
void	LoadControllerModule (char *lib)
stg_point3_t	LocalToGlobal (stg_point3_t local)
stg_pose_t	LocalToGlobal (stg_pose_t pose)
void	NeedRedraw ()
bool	ObstacleReturn ()
StgModel *	Parent ()
virtual void	PopColor ()
StgFlag *	PopFlag ()
virtual void	Print (char *prefix)
virtual const char *	PrintWithPose ()
virtual void	PushColor (double r, double g, double b, double a)
virtual void	PushColor (stg_color_t col)
void	PushFlag (StgFlag *flag)
int	RemoveCallback (void *member, stg_model_callback_t callback)
void	RemoveFlag (StgFlag *flag)
void	RemoveLoadCallback (stg_model_callback_t cb)
void	RemoveSaveCallback (stg_model_callback_t cb)
void	RemoveShutdownCallback (stg_model_callback_t cb)
void	RemoveStartupCallback (stg_model_callback_t cb)
void	RemoveUpdateCallback (stg_model_callback_t cb)
StgModel *	Root ()
	return the root model of the tree containing this model
virtual void	Save ()
void	Say (char *str)
void	SetBlobReturn (int val)
void	SetBoundary (int val)
void	SetColor (stg_color_t col)
void	SetFiducialKey (int key)
void	SetFiducialReturn (int fid)
void	SetGeom (stg_geom_t src)
void	SetGlobalPose (stg_pose_t gpose)
void	SetGlobalVelocity (stg_velocity_t gvel)
void	SetGripperReturn (int val)
void	SetGuiGrid (int val)
void	SetGuiMask (int val)
void	SetGuiNose (int val)
void	SetGuiOutline (int val)
void	SetLaserReturn (stg_laser_return_t val)
void	SetMapResolution (stg_meters_t res)
void	SetMass (stg_kg_t mass)
void	SetObstacleReturn (int val)
int	SetParent (StgModel *newparent)
void	SetPose (stg_pose_t pose)
int	SetProperty (char key, void data)
	Set a named property of a Stage model.
void	SetRangerReturn (int val)
void	SetStall (stg_bool_t stall)
void	SetVelocity (stg_velocity_t vel)
void	SetWatts (stg_watts_t watts)
bool	Stall ()
	StgModel (StgWorld world, StgModel parent, stg_id_t id, char *typestr)
void	Subscribe ()
const char *	TypeStr ()
void	UnsetProperty (char *key)
void	Unsubscribe ()
virtual	~StgModel ()
Static Public Member Functions
static StgModel *	Create (StgWorld world, StgModel parent, stg_id_t id, char *typestr)
Public Attributes
bool	debug
Protected Member Functions
virtual void	DataVisualize ()
virtual void	Draw (uint32_t flags)
void	DrawBlinkenlights ()
virtual void	DrawBlocks ()
void	DrawGrid ()
virtual void	DrawPicker ()
virtual void	DrawSelected (void)
void	DrawTrailArrows ()
void	DrawTrailBlocks ()
void	DrawTrailFootprint ()
void	GPoseDirtyTree ()
void	Map ()
void	MapWithChildren ()
void	Raytrace (stg_radians_t angle, stg_meters_t range, stg_radians_t fov, stg_block_match_func_t func, const void arg, stg_raytrace_sample_t samples, uint32_t sample_count)
void	Raytrace (stg_pose_t pose, stg_meters_t range, stg_radians_t fov, stg_block_match_func_t func, const void arg, stg_raytrace_sample_t samples, uint32_t sample_count)
void	Raytrace (stg_radians_t angle, stg_meters_t range, stg_block_match_func_t func, const void arg, stg_raytrace_sample_t sample)
void	Raytrace (stg_pose_t pose, stg_meters_t range, stg_block_match_func_t func, const void arg, stg_raytrace_sample_t sample)
virtual void	Shutdown ()
virtual void	Startup ()
StgModel *	TestCollision (stg_pose_t pose, double hitx, double *hity)
int	TreeToPtrArray (GPtrArray *array)
void	UnMap ()
void	UnMapWithChildren ()
virtual void	Update ()
void	UpdateIfDue ()
virtual void	UpdatePose ()
Static Protected Member Functions
static void	DrawBlocks (gpointer dummykey, StgModel mod, void arg)
Protected Attributes
GPtrArray *	blinkenlights
int	blob_return
GList *	blocks
bool	body_dirty
int	boundary
GHashTable *	callbacks
stg_color_t	color
GList *	d_list
bool	data_dirty
bool	data_fresh
stg_bool_t	disabled
int	fiducial_key
int	fiducial_return
GList *	flag_list
stg_geom_t	geom
stg_pose_t	global_pose
bool	gpose_dirty
int	gripper_return
int	gui_grid
int	gui_mask
int	gui_nose
int	gui_outline
stg_id_t	id
ctrlinit_t *	initfunc
stg_usec_t	interval
stg_laser_return_t	laser_return
stg_usec_t	last_update
char	load
stg_meters_t	map_resolution
stg_kg_t	mass
int	obstacle_return
bool	on_velocity_list
StgModel *	parent
stg_pose_t	pose
GData *	props
int	ranger_return
char	save
char *	say_string
char	shutdown
stg_bool_t	stall
char	startup
int	subs
GArray *	trail
const char *	typestr
char	update
stg_velocity_t	velocity
stg_watts_t	watts
StgWorld *	world
Friends
class	StgAncestor
class	StgCanvas
class	StgWorld
class	StgWorldGui

Constructor & Destructor Documentation

StgModel::StgModel	(	StgWorld *	world,
		StgModel *	parent,
		stg_id_t	id,
		char *	typestr
	)

References AddBlockRect(), Stg::StgAncestor::AddChild(), Stg::StgWorld::AddModel(), blinkenlights, blob_return, blocks, body_dirty, boundary, callbacks, color, d_list, data_dirty, data_fresh, debug, disabled, fiducial_key, fiducial_return, flag_list, geom, Stg::StgAncestor::GetNumChildrenOfType(), global_pose, gpose_dirty, gripper_return, gui_grid, gui_mask, gui_nose, gui_outline, initfunc, interval, laser_return, last_update, map_resolution, obstacle_return, on_velocity_list, Stg::stg_geom_t::pose, pose, PRINT_DEBUG2, PRINT_DEBUG4, ranger_return, say_string, Stg::stg_geom_t::size, stall, STG_DEFAULT_MOD_BLOBRETURN, STG_DEFAULT_MOD_BOUNDARY, STG_DEFAULT_MOD_COLOR, STG_DEFAULT_MOD_GEOM_SIZEX, STG_DEFAULT_MOD_GRID, STG_DEFAULT_MOD_GRIPPERRETURN, STG_DEFAULT_MOD_LASERRETURN, STG_DEFAULT_MOD_MAP_RESOLUTION, STG_DEFAULT_MOD_MASK, STG_DEFAULT_MOD_NOSE, STG_DEFAULT_MOD_OBSTACLERETURN, STG_DEFAULT_MOD_OUTLINE, STG_DEFAULT_MOD_RANGERRETURN, subs, Stg::StgAncestor::token, Stg::StgAncestor::Token(), Stg::TOKEN_MAX, trail, velocity, Stg::stg_size_t::x, Stg::stg_size_t::y, and Stg::stg_size_t::z.

Referenced by Create().

StgModel::~StgModel ( void ) [virtual]

References callbacks, Stg::StgAncestor::children, parent, Stg::StgWorld::RemoveModel(), and world.

Member Function Documentation

void Stg::StgModel::AddBlinkenlight ( stg_blinkenlight_t * b ) [inline]

References blinkenlights.

void StgModel::AddBlock	(	stg_point_t *	pts,
		size_t	pt_count,
		stg_meters_t	zmin,
		stg_meters_t	zmax,
		stg_color_t	color,
		bool	inherit_color
	)

References blocks, and body_dirty.

Referenced by AddBlockRect(), and Load().

void StgModel::AddBlockRect	(	double	x,
		double	y,
		double	width,
		double	height
	)

References AddBlock(), Stg::stg_point_t::x, and Stg::stg_point_t::y.

Referenced by Load(), and StgModel().

void StgModel::AddCallback	(	void *	address,
		stg_model_callback_t	cb,
		void *	user
	)

References callbacks, Stg::cb_create(), and key_gen().

Referenced by AddLoadCallback(), AddSaveCallback(), AddShutdownCallback(), AddStartupCallback(), and AddUpdateCallback().

void StgModel::AddFlag ( StgFlag * flag )

References flag_list.

void Stg::StgModel::AddLoadCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

References AddCallback(), and load.

void Stg::StgModel::AddPropertyToggles	(	void *	member,
		stg_model_callback_t	callback_on,
		void *	arg_on,
		stg_model_callback_t	callback_off,
		void *	arg_off,
		char *	name,
		char *	label,
		gboolean	enabled
	)

void Stg::StgModel::AddSaveCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

References AddCallback(), and save.

void Stg::StgModel::AddShutdownCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

References AddCallback(), and shutdown.

void Stg::StgModel::AddStartupCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

References AddCallback(), and startup.

void StgModel::AddToPose	(	double	dx,
		double	dy,
		double	dz,
		double	da
	)

add values to a model's pose in its parent's coordinate system

References Stg::stg_pose_t::a, GetPose(), pose, SetPose(), Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

void StgModel::AddToPose ( stg_pose_t pose )

add values to a model's pose in its parent's coordinate system

References Stg::stg_pose_t::a, Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

Referenced by Stg::StgCanvas::handle().

void Stg::StgModel::AddUpdateCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

References AddCallback(), and update.

void StgModel::CallCallbacks ( void * address )

void Stg::StgModel::ClearBlinkenlights ( ) [inline]

References blinkenlights.

void StgModel::ClearBlocks ( void )

remove all blocks from this model, freeing their memory

References blocks, body_dirty, and Stg::stg_block_list_destroy().

Referenced by Load(), Stg::StgModelBlobfinder::StgModelBlobfinder(), Stg::StgModelFiducial::StgModelFiducial(), and Stg::StgModelRanger::StgModelRanger().

static StgModel* Stg::StgModel::Create	(	StgWorld *	world,
		StgModel *	parent,
		stg_id_t	id,
		char *	typestr
	)			`[inline, static]`

Reimplemented in Stg::StgModelBlobfinder, Stg::StgModelLaser, Stg::StgModelFiducial, Stg::StgModelRanger, Stg::StgModelBlinkenlight, and Stg::StgModelPosition.

References StgModel().

bool Stg::StgModel::DataIsFresh ( ) [inline]

References data_fresh.

void StgModel::DataVisualize ( void ) [protected, virtual]

Reimplemented in Stg::StgModelBlobfinder, Stg::StgModelLaser, and Stg::StgModelRanger.

Referenced by Draw().

void Stg::StgModel::Disable ( ) [inline]

References disabled.

Referenced by Stg::StgCanvas::Select().

void StgModel::Draw ( uint32_t flags ) [protected, virtual]

Reimplemented in Stg::StgModelBlinkenlight.

References blinkenlights, Stg::StgAncestor::children, DataVisualize(), DrawBlinkenlights(), DrawFlagList(), DrawGrid(), flag_list, geom, Stg::gl_coord_shift(), Stg::gl_draw_string(), Stg::gl_pose_shift(), gui_grid, Stg::stg_geom_t::pose, pose, Stg::stg_geom_t::size, stall, Stg::STG_SHOW_DATA, Stg::STG_SHOW_GRID, and Stg::stg_size_t::z.

Referenced by Stg::StgModelBlinkenlight::Draw(), and DrawTrailBlocks().

void StgModel::DrawBlinkenlights ( ) [protected]

References blinkenlights, Stg::stg_blinkenlight_t::color, Stg::stg_blinkenlight_t::enabled, PopColor(), Stg::stg_blinkenlight_t::pose, PushColor(), Stg::stg_blinkenlight_t::size, Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

Referenced by Draw().

void StgModel::DrawBlocks	(	gpointer	dummykey,
		StgModel *	mod,
		void *	arg
	)			`[static, protected]`

References DrawBlocks().

void StgModel::DrawBlocks ( ) [protected, virtual]

References blocks, Stg::StgAncestor::children, and LISTMETHOD.

Referenced by DrawBlocks().

void StgModel::DrawFlagList ( void )

References Stg::stg_pose_t::a, Stg::StgFlag::color, flag_list, GetGlobalPose(), PopColor(), PushColor(), Stg::rtod(), Stg::StgFlag::size, Stg::stg_color_pack(), and Stg::stg_color_unpack().

Referenced by Draw().

void StgModel::DrawGrid ( void ) [protected]

References geom, Stg::gl_draw_grid(), Stg::stg_bounds_t::max, Stg::stg_bounds_t::min, PopColor(), PushColor(), Stg::stg_geom_t::size, Stg::stg_size_t::x, Stg::stg_bounds3d_t::x, Stg::stg_size_t::y, Stg::stg_bounds3d_t::y, Stg::stg_size_t::z, and Stg::stg_bounds3d_t::z.

Referenced by Draw().

void StgModel::DrawPicker ( void ) [protected, virtual]

References blocks, Stg::StgAncestor::children, geom, Stg::gl_coord_shift(), Stg::gl_pose_shift(), LISTMETHOD, Stg::stg_geom_t::pose, pose, Stg::stg_geom_t::size, and Stg::stg_size_t::z.

Referenced by Stg::StgCanvas::Select().

void StgModel::DrawSelected ( void ) [protected, virtual]

References Stg::stg_pose_t::a, geom, GetGlobalPose(), Stg::gl_draw_string(), Stg::gl_pose_shift(), PopColor(), Stg::stg_geom_t::pose, pose, PushColor(), Stg::rtod(), Stg::stg_geom_t::size, Stg::StgAncestor::token, Stg::stg_size_t::x, Stg::stg_pose_t::x, Stg::stg_size_t::y, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

void StgModel::DrawTrailArrows ( ) [protected]

References Stg::stg_trail_item_t::color, Stg::gl_pose_shift(), PopColor(), Stg::stg_trail_item_t::pose, pose, PushColor(), Stg::StgWorld::sim_time, Stg::stg_color_unpack(), Stg::stg_trail_item_t::time, trail, world, and Stg::stg_pose_t::z.

void StgModel::DrawTrailBlocks ( ) [protected]

References blocks, Draw(), geom, Stg::gl_pose_shift(), LISTMETHOD, Stg::stg_geom_t::pose, Stg::stg_trail_item_t::pose, pose, Stg::StgWorld::sim_time, Stg::stg_trail_item_t::time, trail, world, and Stg::stg_pose_t::z.

void StgModel::DrawTrailFootprint ( ) [protected]

References blocks, Stg::stg_trail_item_t::color, geom, Stg::gl_pose_shift(), LISTMETHOD, PopColor(), Stg::stg_geom_t::pose, Stg::stg_trail_item_t::pose, PushColor(), Stg::stg_color_unpack(), and trail.

void Stg::StgModel::Enable ( ) [inline]

References disabled.

Referenced by Stg::StgCanvas::Select().

int Stg::StgModel::FiducialKey ( ) [inline]

References fiducial_key.

int Stg::StgModel::FiducialReturn ( ) [inline]

References fiducial_return.

stg_color_t Stg::StgModel::GetColor ( ) [inline]

References color.

Referenced by Stg::StgBlock::Color().

int Stg::StgModel::GetFlagCount ( ) [inline]

References flag_list.

stg_geom_t Stg::StgModel::GetGeom ( ) [inline]

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

References geom.

Referenced by Load(), InterfacePosition::ProcessMessage(), and InterfaceLaser::ProcessMessage().

stg_pose_t StgModel::GetGlobalPose ( ) [virtual]

get the pose of a model in the global CS

Reimplemented from Stg::StgAncestor.

References geom, GetGlobalPose(), global_pose, gpose_dirty, parent, pose, Stg::stg_geom_t::size, Stg::stg_pose_sum(), Stg::stg_size_t::z, and Stg::stg_pose_t::z.

Referenced by Stg::StgModelBlobfinder::DataVisualize(), Stg::StgCanvas::draw(), DrawFlagList(), DrawSelected(), GetGlobalPose(), GetGlobalVelocity(), GlobalToLocal(), Stg::StgModelPosition::Load(), LocalToGlobal(), PrintWithPose(), InterfaceGraphics3d::Publish(), SetGlobalVelocity(), Stg::StgModelPosition::SetOdom(), Stg::StgModelPosition::Update(), and Stg::StgModelLaser::Update().

stg_velocity_t StgModel::GetGlobalVelocity ( )

get the velocity of a model in the global CS

References Stg::stg_pose_t::a, GetGlobalPose(), velocity, Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

stg_laser_return_t Stg::StgModel::GetLaserReturn ( ) [inline]

References laser_return.

Referenced by Stg::StgModelLaser::Update().

StgModel * StgModel::GetModel ( const char * name )

References Stg::StgWorld::GetModel(), PRINT_WARN1, Stg::StgAncestor::token, Stg::TOKEN_MAX, and world.

Referenced by Init().

stg_pose_t Stg::StgModel::GetPose ( ) [inline]

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

References pose.

Referenced by AddToPose(), Load(), InterfaceSimulation::ProcessMessage(), and InterfaceLaser::ProcessMessage().

void * StgModel::GetProperty ( char * key )

named-property interface

References color, fiducial_return, gripper_return, laser_return, mass, MATCH, obstacle_return, PRINT_WARN1, props, ranger_return, Stg::STG_MP_COLOR, Stg::STG_MP_FIDUCIAL_RETURN, Stg::STG_MP_GRIPPER_RETURN, Stg::STG_MP_LASER_RETURN, Stg::STG_MP_MASS, Stg::STG_MP_OBSTACLE_RETURN, Stg::STG_MP_PREFIX, Stg::STG_MP_RANGER_RETURN, Stg::STG_MP_WATTS, and watts.

int Stg::StgModel::GetRangerReturn ( ) [inline]

References ranger_return.

StgModel * StgModel::GetUnsubscribedModelOfType ( char * modelstr )

returns the first descendent of this model that is unsubscribed and has the type indicated by the string

References Stg::StgAncestor::children, GetUnsubscribedModelOfType(), subs, and typestr.

Referenced by GetUnsubscribedModelOfType(), and StgDriver::LocateModel().

stg_velocity_t Stg::StgModel::GetVelocity ( ) [inline]

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

References velocity.

Referenced by Load(), and InterfacePosition::Publish().

StgWorld* Stg::StgModel::GetWorld ( ) [inline]

References world.

Referenced by Stg::StgBlock::Map().

void StgModel::GlobalToLocal ( 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.

References Stg::stg_pose_t::a, GetGlobalPose(), Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

Referenced by SetGlobalPose().

void StgModel::GPoseDirtyTree ( void ) [protected]

Causes this model and its children to recompute their global position instead of using a cached pose in StgModel::GetGlobalPose()..

References Stg::StgAncestor::children, and gpose_dirty.

Referenced by SetPose().

int Stg::StgModel::GuiMask ( ) [inline]

References gui_mask.

Referenced by Stg::StgCanvas::Select().

stg_id_t Stg::StgModel::Id ( ) [inline]

References id.

Referenced by Stg::StgWorld::AddModel(), and Stg::StgCanvas::Select().

void StgModel::Init ( )

Should be called after all models are loaded, to do any last-minute setup

References initfunc, and Subscribe().

Referenced by init_models().

bool StgModel::IsAntecedent ( StgModel * testmod )

References Parent().

bool StgModel::IsDescendent ( StgModel * testmod )

References Stg::StgAncestor::children, and IsDescendent().

Referenced by IsDescendent(), and IsRelated().

bool StgModel::IsRelated ( StgModel * mod2 )

References IsDescendent(), and Parent().

void StgModel::Load ( void ) [virtual]

configure a model by reading from the current world file

Reimplemented in Stg::StgModelBlobfinder, Stg::StgModelLaser, Stg::StgModelFiducial, Stg::StgModelRanger, Stg::StgModelBlinkenlight, and Stg::StgModelPosition.

References Stg::stg_pose_t::a, AddBlock(), AddBlockRect(), Stg::StgWorld::AddModelName(), blocks, body_dirty, boundary, CallCallbacks(), ClearBlocks(), color, debug, Stg::Worldfile::filename, geom, GetGeom(), GetPose(), GetVelocity(), laser_return, load, LoadControllerModule(), Map(), Stg::stg_rotrect_t::pose, pose, Stg::stg_geom_t::pose, PRINT_DEBUG1, PRINT_ERR1, PRINT_WARN2, Stg::Worldfile::PropertyExists(), Stg::Worldfile::ReadFloat(), Stg::Worldfile::ReadInt(), Stg::Worldfile::ReadString(), Stg::Worldfile::ReadTupleAngle(), Stg::Worldfile::ReadTupleFloat(), Stg::Worldfile::ReadTupleLength(), Stg::StgBlock::ScaleList(), SetBlobReturn(), SetBoundary(), SetColor(), SetFiducialKey(), SetFiducialReturn(), SetGeom(), SetGripperReturn(), SetGuiGrid(), SetGuiMask(), SetGuiNose(), SetGuiOutline(), SetLaserReturn(), SetMapResolution(), SetMass(), SetObstacleReturn(), SetPose(), SetRangerReturn(), SetVelocity(), Stg::stg_rotrect_t::size, Stg::stg_geom_t::size, Stg::StgWorld::StartUpdatingModel(), Stg::stg_color_pack(), Stg::stg_lookup_color(), Stg::stg_points_create(), Stg::stg_points_destroy(), Stg::stg_rotrects_from_image_file(), Stg::StgAncestor::token, UnMap(), Stg::StgWorld::wf, world, Stg::stg_point_t::x, Stg::stg_size_t::x, Stg::stg_pose_t::x, Stg::stg_point_t::y, Stg::stg_size_t::y, Stg::stg_pose_t::y, Stg::stg_size_t::z, and Stg::stg_pose_t::z.

Referenced by Stg::StgWorld::Load(), Stg::StgModelRanger::Load(), Stg::StgModelPosition::Load(), Stg::StgModelLaser::Load(), Stg::StgModelFiducial::Load(), Stg::StgModelBlobfinder::Load(), and Stg::StgModelBlinkenlight::Load().

void StgModel::LoadControllerModule ( char * lib )

References initfunc, and PRINT_ERR1.

Referenced by Load().

stg_point3_t StgModel::LocalToGlobal ( stg_point3_t local )

Return the 3d point in world coordinates of a 3d point specified in the model's local coordinate system

References Stg::stg_pose_t::a, LocalToGlobal(), pose, Stg::stg_point3_t::x, Stg::stg_pose_t::x, Stg::stg_point3_t::y, Stg::stg_pose_t::y, Stg::stg_point3_t::z, and Stg::stg_pose_t::z.

stg_pose_t StgModel::LocalToGlobal ( 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. Return the global pose (i.e. pose in world coordinates) of a pose specified in the model's local coordinate system

References geom, GetGlobalPose(), Stg::stg_geom_t::pose, and Stg::pose_sum().

Referenced by LocalToGlobal(), Stg::StgBlock::Map(), and Raytrace().

void StgModel::Map ( ) [protected]

References blocks, Stg::StgWorld::graphics, Stg::StgWorld::ppm, and world.

Referenced by Load(), MapWithChildren(), and SetGeom().

void StgModel::MapWithChildren ( ) [protected]

References Stg::StgAncestor::children, and Map().

Referenced by SetPose(), and TestCollision().

void StgModel::NeedRedraw ( void )

References Stg::StgWorld::dirty, and world.

Referenced by SetPose().

bool Stg::StgModel::ObstacleReturn ( ) [inline]

References obstacle_return.

StgModel* Stg::StgModel::Parent ( ) [inline]

References parent.

Referenced by IsAntecedent(), and IsRelated().

virtual void Stg::StgModel::PopColor ( ) [inline, virtual]

Implements Stg::StgAncestor.

References Stg::StgWorld::PopColor(), and world.

Referenced by Stg::StgModelRanger::DataVisualize(), Stg::StgModelLaser::DataVisualize(), Stg::StgModelBlobfinder::DataVisualize(), DrawBlinkenlights(), DrawFlagList(), DrawGrid(), DrawSelected(), DrawTrailArrows(), and DrawTrailFootprint().

StgFlag * StgModel::PopFlag ( )

References flag_list.

void StgModel::Print ( char * prefix ) [virtual]

Reimplemented in Stg::StgModelLaser, and Stg::StgModelRanger.

References Stg::StgAncestor::token, Stg::StgAncestor::Token(), and world.

Referenced by Stg::StgModelRanger::Print(), and Stg::StgModelLaser::Print().

const char * StgModel::PrintWithPose ( ) [virtual]

References Stg::stg_pose_t::a, GetGlobalPose(), Stg::StgAncestor::token, Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

virtual void Stg::StgModel::PushColor	(	double	r,
		double	g,
		double	b,
		double	a
	)			`[inline, virtual]`

Implements Stg::StgAncestor.

References Stg::StgWorld::PushColor(), and world.

virtual void Stg::StgModel::PushColor ( stg_color_t col ) [inline, virtual]

Implements Stg::StgAncestor.

References Stg::StgWorld::PushColor(), and world.

Referenced by Stg::StgModelRanger::DataVisualize(), Stg::StgModelLaser::DataVisualize(), Stg::StgModelBlobfinder::DataVisualize(), DrawBlinkenlights(), DrawFlagList(), DrawGrid(), DrawSelected(), DrawTrailArrows(), and DrawTrailFootprint().

void StgModel::PushFlag ( StgFlag * flag )

References flag_list.

void StgModel::Raytrace	(	stg_radians_t	angle,
		stg_meters_t	range,
		stg_radians_t	fov,
		stg_block_match_func_t	func,
		const void *	arg,
		stg_raytrace_sample_t *	samples,
		uint32_t	sample_count
	)			`[protected]`

References Stg::stg_pose_t::a, pose, and Raytrace().

void StgModel::Raytrace	(	stg_pose_t	pose,
		stg_meters_t	range,
		stg_radians_t	fov,
		stg_block_match_func_t	func,
		const void *	arg,
		stg_raytrace_sample_t *	samples,
		uint32_t	sample_count
	)			`[protected]`

References LocalToGlobal(), Stg::StgWorld::Raytrace(), and world.

void StgModel::Raytrace	(	stg_radians_t	angle,
		stg_meters_t	range,
		stg_block_match_func_t	func,
		const void *	arg,
		stg_raytrace_sample_t *	sample
	)			`[protected]`

References Stg::stg_pose_t::a, pose, and Raytrace().

void StgModel::Raytrace	(	stg_pose_t	pose,
		stg_meters_t	range,
		stg_block_match_func_t	func,
		const void *	arg,
		stg_raytrace_sample_t *	sample
	)			`[protected]`

References LocalToGlobal(), Stg::StgWorld::Raytrace(), and world.

Referenced by Raytrace(), TestCollision(), Stg::StgModelRanger::Update(), Stg::StgModelLaser::Update(), and Stg::StgModelBlobfinder::Update().

int StgModel::RemoveCallback	(	void *	member,
		stg_model_callback_t	callback
	)

References callbacks, and key_gen().

Referenced by CallCallbacks(), RemoveLoadCallback(), RemoveSaveCallback(), RemoveShutdownCallback(), RemoveStartupCallback(), and RemoveUpdateCallback().

void StgModel::RemoveFlag ( StgFlag * flag )

References flag_list.

void Stg::StgModel::RemoveLoadCallback ( stg_model_callback_t cb ) [inline]

References load, and RemoveCallback().

void Stg::StgModel::RemoveSaveCallback ( stg_model_callback_t cb ) [inline]

References RemoveCallback(), and save.

void Stg::StgModel::RemoveShutdownCallback ( stg_model_callback_t cb ) [inline]

References RemoveCallback(), and shutdown.

void Stg::StgModel::RemoveStartupCallback ( stg_model_callback_t cb ) [inline]

References RemoveCallback(), and startup.

void Stg::StgModel::RemoveUpdateCallback ( stg_model_callback_t cb ) [inline]

References RemoveCallback(), and update.

StgModel* Stg::StgModel::Root ( ) [inline]

return the root model of the tree containing this model

References parent, and Root().

Referenced by Root().

void StgModel::Save ( void ) [virtual]

save the state of the model to the current world file

References Stg::stg_pose_t::a, CallCallbacks(), pose, PRINT_DEBUG1, PRINT_DEBUG4, save, Stg::StgAncestor::token, Stg::StgWorld::wf, world, Stg::Worldfile::WriteTupleAngle(), Stg::Worldfile::WriteTupleLength(), Stg::stg_pose_t::x, Stg::stg_pose_t::y, and Stg::stg_pose_t::z.

void StgModel::Say ( char * str )

References say_string.

void StgModel::SetBlobReturn ( int val )

References blob_return, and CallCallbacks().

Referenced by Load(), and Stg::StgModelPosition::StgModelPosition().

void StgModel::SetBoundary ( int val )

References boundary, and CallCallbacks().

Referenced by Load().

void StgModel::SetColor ( stg_color_t col )

References body_dirty, CallCallbacks(), and color.

Referenced by Load(), SetProperty(), Stg::StgModelBlinkenlight::StgModelBlinkenlight(), Stg::StgModelLaser::StgModelLaser(), and Stg::StgModelRanger::StgModelRanger().

void StgModel::SetFiducialKey ( int key )

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

References CallCallbacks(), and fiducial_key.

Referenced by Load().

void StgModel::SetFiducialReturn ( int fid )

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

References CallCallbacks(), and fiducial_return.

Referenced by Load(), and SetProperty().

void StgModel::SetGeom ( stg_geom_t src )

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

References blocks, body_dirty, CallCallbacks(), Map(), Stg::StgBlock::ScaleList(), Stg::stg_geom_t::size, and UnMap().

Referenced by Load(), Stg::StgModelBlinkenlight::StgModelBlinkenlight(), Stg::StgModelFiducial::StgModelFiducial(), Stg::StgModelLaser::StgModelLaser(), and Stg::StgModelRanger::StgModelRanger().

void StgModel::SetGlobalPose ( stg_pose_t gpose )

set the pose of model in global coordinates

References GlobalToLocal(), parent, and SetPose().

void StgModel::SetGlobalVelocity ( stg_velocity_t gvel )

References Stg::stg_pose_t::a, GetGlobalPose(), SetVelocity(), Stg::stg_pose_t::x, and Stg::stg_pose_t::y.

void StgModel::SetGripperReturn ( int val )

References CallCallbacks(), and gripper_return.

Referenced by Load(), and SetProperty().

void StgModel::SetGuiGrid ( int val )

References CallCallbacks(), and gui_grid.

Referenced by Load().

void StgModel::SetGuiMask ( int val )

References CallCallbacks(), and gui_mask.

Referenced by Load().

void StgModel::SetGuiNose ( int val )

References CallCallbacks(), and gui_nose.

Referenced by Load().

void StgModel::SetGuiOutline ( int val )

References CallCallbacks(), and gui_outline.

Referenced by Load().

void StgModel::SetLaserReturn ( stg_laser_return_t val )

References CallCallbacks(), and laser_return.

Referenced by Load(), and SetProperty().

void StgModel::SetMapResolution ( stg_meters_t res )

References CallCallbacks(), and map_resolution.

Referenced by Load().

void StgModel::SetMass ( stg_kg_t mass )

References CallCallbacks().

Referenced by Load(), and SetProperty().

void StgModel::SetObstacleReturn ( int val )

References CallCallbacks(), and obstacle_return.

Referenced by Load(), and SetProperty().

int StgModel::SetParent ( StgModel * newparent )

Change a model's parent - experimental

References CallCallbacks(), Stg::StgAncestor::children, and parent.

void StgModel::SetPose ( stg_pose_t pose )

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

References Stg::stg_pose_t::a, CallCallbacks(), GPoseDirtyTree(), MapWithChildren(), NeedRedraw(), Stg::normalize(), and UnMapWithChildren().

Referenced by AddToPose(), Load(), InterfaceSimulation::ProcessMessage(), SetGlobalPose(), and UpdatePose().

int StgModel::SetProperty	(	char *	key,
		void *	data
	)

Set a named property of a Stage model.

Set a property of a Stage model.

This function can set both predefined and user-defined properties of a model. Predefined properties are intrinsic to every model, such as pose and color. Every supported predefined properties has its identifying string defined as a preprocessor macro in stage.h. Users should use the macro instead of a hard-coded string, so that the compiler can help you to avoid mis-naming properties.

User-defined properties allow the user to attach arbitrary data pointers to a model. User-defined property data is not copied, so the original pointer must remain valid. User-defined property names are simple strings. Names beginning with an underscore ('_') are reserved for internal libstage use: users should not use names beginning with underscore (at risk of causing very weird behaviour).

Any callbacks registered for the named property will be called.

Returns 0 on success, or a positive error code on failure.

CAUTION* The caller is responsible for making sure the pointer points to data of the correct type for the property, so use carefully. Check the docs or the equivalent stg_model_set_<property>() function definition to see the type of data required for each property.

References MATCH, PRINT_DEBUG1, PRINT_ERR1, props, SetColor(), SetFiducialReturn(), SetGripperReturn(), SetLaserReturn(), SetMass(), SetObstacleReturn(), SetRangerReturn(), SetWatts(), Stg::STG_MP_COLOR, Stg::STG_MP_FIDUCIAL_RETURN, Stg::STG_MP_GRIPPER_RETURN, Stg::STG_MP_LASER_RETURN, Stg::STG_MP_MASS, Stg::STG_MP_OBSTACLE_RETURN, Stg::STG_MP_PREFIX, Stg::STG_MP_RANGER_RETURN, and Stg::STG_MP_WATTS.

Referenced by InterfaceSimulation::ProcessMessage().

void StgModel::SetRangerReturn ( int val )

References CallCallbacks(), and ranger_return.

Referenced by Load(), and SetProperty().

void StgModel::SetStall ( stg_bool_t stall )

References CallCallbacks().

Referenced by UpdatePose().

void StgModel::SetVelocity ( stg_velocity_t vel )

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

References CallCallbacks(), on_velocity_list, velocity, velocity_is_nonzero(), Stg::StgWorld::velocity_list, and world.

Referenced by Load(), SetGlobalVelocity(), Stg::StgModelPosition::StgModelPosition(), and Stg::StgModelPosition::Update().

void StgModel::SetWatts ( stg_watts_t watts )

References CallCallbacks().

Referenced by SetProperty(), Stg::StgModelRanger::Shutdown(), Stg::StgModelPosition::Shutdown(), Stg::StgModelLaser::Shutdown(), Stg::StgModelBlobfinder::Shutdown(), Stg::StgModelRanger::Startup(), Stg::StgModelPosition::Startup(), Stg::StgModelLaser::Startup(), Stg::StgModelBlobfinder::Startup(), and Stg::StgModelPosition::StgModelPosition().

void StgModel::Shutdown ( void ) [protected, virtual]

Reimplemented in Stg::StgModelBlobfinder, Stg::StgModelLaser, Stg::StgModelRanger, and Stg::StgModelPosition.

References CallCallbacks(), shutdown, Stg::StgWorld::StopUpdatingModel(), and world.

Referenced by Stg::StgModelRanger::Shutdown(), Stg::StgModelPosition::Shutdown(), Stg::StgModelLaser::Shutdown(), Stg::StgModelBlobfinder::Shutdown(), and Unsubscribe().

bool Stg::StgModel::Stall ( ) [inline]

References stall.

Referenced by InterfacePosition::Publish().

void StgModel::Startup ( void ) [protected, virtual]

Reimplemented in Stg::StgModelBlobfinder, Stg::StgModelLaser, Stg::StgModelRanger, and Stg::StgModelPosition.

References CallCallbacks(), initfunc, startup, Stg::StgWorld::StartUpdatingModel(), and world.

Referenced by Stg::StgModelRanger::Startup(), Stg::StgModelPosition::Startup(), Stg::StgModelLaser::Startup(), Stg::StgModelBlobfinder::Startup(), Stg::StgModelBlinkenlight::StgModelBlinkenlight(), and Subscribe().

void StgModel::Subscribe ( void )

subscribe to a model's data

References Startup(), subs, Stg::StgWorld::total_subs, and world.

Referenced by Init(), and InterfaceModel::Subscribe().

StgModel * StgModel::TestCollision	(	stg_pose_t *	pose,
		double *	hitx,
		double *	hity
	)			`[protected]`

References Stg::stg_pose_t::a, Stg::stg_raytrace_sample_t::block, blocks, MapWithChildren(), Stg::StgBlock::Model(), Stg::StgBlock::Points(), Stg::pose_sum(), Raytrace(), UnMapWithChildren(), Stg::stg_pose_t::x, Stg::stg_point_t::x, Stg::stg_pose_t::y, and Stg::stg_point_t::y.

Referenced by UpdatePose().

int StgModel::TreeToPtrArray ( GPtrArray * array ) [protected]

References Stg::StgAncestor::children.

const char* Stg::StgModel::TypeStr ( ) [inline]

References typestr.

void StgModel::UnMap ( ) [protected]

References blocks.

Referenced by Load(), SetGeom(), and UnMapWithChildren().

void StgModel::UnMapWithChildren ( ) [protected]

References Stg::StgAncestor::children, and UnMap().

Referenced by SetPose(), and TestCollision().

void StgModel::UnsetProperty ( char * key )

References PRINT_WARN1, props, and Stg::STG_MP_PREFIX.

void StgModel::Unsubscribe ( void )

unsubscribe from a model's data

References Shutdown(), subs, Stg::StgAncestor::token, Stg::StgWorld::total_subs, and world.

Referenced by InterfaceModel::Unsubscribe().

void StgModel::Update ( void ) [protected, virtual]

Reimplemented in Stg::StgModelBlobfinder, Stg::StgModelLaser, Stg::StgModelRanger, Stg::StgModelBlinkenlight, and Stg::StgModelPosition.

References CallCallbacks(), last_update, Stg::StgWorld::sim_time, update, and world.

Referenced by Stg::StgModelRanger::Update(), Stg::StgModelPosition::Update(), Stg::StgModelLaser::Update(), Stg::StgModelBlobfinder::Update(), Stg::StgModelBlinkenlight::Update(), and UpdateIfDue().

void StgModel::UpdateIfDue ( void ) [protected]

References interval, last_update, Stg::StgWorld::sim_time, Update(), and world.

void StgModel::UpdatePose ( void ) [protected, virtual]

Friends And Related Function Documentation

friend class StgAncestor [friend]

friend class StgCanvas [friend]

Reimplemented from Stg::StgAncestor.

friend class StgWorld [friend]

friend class StgWorldGui [friend]

Member Data Documentation

GPtrArray* Stg::StgModel::blinkenlights [protected]

Referenced by AddBlinkenlight(), ClearBlinkenlights(), Draw(), DrawBlinkenlights(), and StgModel().

int Stg::StgModel::blob_return [protected]

Referenced by SetBlobReturn(), and StgModel().

GList* Stg::StgModel::blocks [protected]

Referenced by AddBlock(), ClearBlocks(), Stg::StgModelBlinkenlight::Draw(), DrawBlocks(), DrawPicker(), DrawTrailBlocks(), DrawTrailFootprint(), Load(), Map(), SetGeom(), StgModel(), TestCollision(), and UnMap().

bool Stg::StgModel::body_dirty [protected]

Referenced by AddBlock(), ClearBlocks(), Load(), SetColor(), SetGeom(), and StgModel().

int Stg::StgModel::boundary [protected]

Referenced by Load(), SetBoundary(), and StgModel().

GHashTable* Stg::StgModel::callbacks [protected]

callback functions can be attached to any field in this structure. When the internal function model_change(<mod>,<field>) is called, the callback is triggered

Referenced by AddCallback(), CallCallbacks(), RemoveCallback(), StgModel(), and ~StgModel().

stg_color_t Stg::StgModel::color [protected]

Referenced by GetColor(), GetProperty(), Load(), SetColor(), StgModel(), and UpdatePose().

GList* Stg::StgModel::d_list [protected]

Referenced by StgModel().

bool Stg::StgModel::data_dirty [protected]

Referenced by Stg::StgModelLaser::SetSamples(), StgModel(), Stg::StgModelLaser::Update(), and Stg::StgModelBlobfinder::Update().

bool Stg::StgModel::data_fresh [protected]

this can be set to indicate that the model has

Referenced by DataIsFresh(), and StgModel().

bool Stg::StgModel::debug

Reimplemented from Stg::StgAncestor.

Referenced by Stg::StgModelBlobfinder::DataVisualize(), Load(), and StgModel().

stg_bool_t Stg::StgModel::disabled [protected]

Referenced by Disable(), Enable(), StgModel(), and UpdatePose().

int Stg::StgModel::fiducial_key [protected]

Referenced by FiducialKey(), SetFiducialKey(), and StgModel().

int Stg::StgModel::fiducial_return [protected]

Referenced by FiducialReturn(), GetProperty(), SetFiducialReturn(), and StgModel().

GList* Stg::StgModel::flag_list [protected]

Referenced by AddFlag(), Draw(), DrawFlagList(), GetFlagCount(), PopFlag(), PushFlag(), RemoveFlag(), and StgModel().

stg_pose_t Stg::StgModel::global_pose [protected]

Referenced by GetGlobalPose(), and StgModel().

bool Stg::StgModel::gpose_dirty [protected]

Referenced by GetGlobalPose(), GPoseDirtyTree(), and StgModel().

int Stg::StgModel::gripper_return [protected]

Referenced by GetProperty(), SetGripperReturn(), and StgModel().

int Stg::StgModel::gui_grid [protected]

Referenced by Draw(), SetGuiGrid(), and StgModel().

int Stg::StgModel::gui_mask [protected]

Referenced by GuiMask(), SetGuiMask(), and StgModel().

int Stg::StgModel::gui_nose [protected]

Referenced by SetGuiNose(), and StgModel().

int Stg::StgModel::gui_outline [protected]

Referenced by SetGuiOutline(), and StgModel().

stg_id_t Stg::StgModel::id [protected]

new data that may be of interest to users. This allows polling the model instead of adding a data callback.

Referenced by Id().

ctrlinit_t* Stg::StgModel::initfunc [protected]

Referenced by Init(), LoadControllerModule(), Startup(), and StgModel().

stg_usec_t Stg::StgModel::interval [protected]

Referenced by StgModel(), Stg::StgModelLaser::StgModelLaser(), UpdateIfDue(), and UpdatePose().

stg_laser_return_t Stg::StgModel::laser_return [protected]

Referenced by GetLaserReturn(), GetProperty(), Load(), SetLaserReturn(), StgModel(), and Stg::StgModelLaser::StgModelLaser().

stg_usec_t Stg::StgModel::last_update [protected]

Referenced by StgModel(), Update(), and UpdateIfDue().

char Stg::StgModel::load [protected]

Referenced by AddLoadCallback(), Load(), and RemoveLoadCallback().

stg_meters_t Stg::StgModel::map_resolution [protected]

Referenced by SetMapResolution(), and StgModel().

stg_kg_t Stg::StgModel::mass [protected]

Referenced by GetProperty().

int Stg::StgModel::obstacle_return [protected]

Referenced by GetProperty(), ObstacleReturn(), SetObstacleReturn(), and StgModel().

bool Stg::StgModel::on_velocity_list [protected]

Referenced by SetVelocity(), and StgModel().

StgModel* Stg::StgModel::parent [protected]

Referenced by GetGlobalPose(), Parent(), Root(), SetGlobalPose(), SetParent(), and ~StgModel().

GData* Stg::StgModel::props [protected]

GData datalist can contain arbitrary named data items. Can be used by derived model types to store properties, and for user code to associate arbitrary items with a model.

Referenced by GetProperty(), SetProperty(), and UnsetProperty().

int Stg::StgModel::ranger_return [protected]

Referenced by GetProperty(), GetRangerReturn(), SetRangerReturn(), and StgModel().

char Stg::StgModel::save [protected]

Referenced by AddSaveCallback(), RemoveSaveCallback(), and Save().

char* Stg::StgModel::say_string [protected]

if non-null, this string is displayed in the GUI

Referenced by Say(), and StgModel().

char Stg::StgModel::shutdown [protected]

Referenced by AddShutdownCallback(), RemoveShutdownCallback(), and Shutdown().

stg_bool_t Stg::StgModel::stall [protected]

Referenced by Draw(), Stall(), and StgModel().