Stg Namespace Reference
[libstage: the Stage Robot Simulation Library]

Detailed Description

The Stage library uses its own namespace


Classes
class	GlColorStack
class	Region
struct	stg_bbox3d_t
struct	stg_bigblock_t
struct	stg_blinkenlight_t
struct	stg_blobfinder_blob_t
struct	stg_bounds3d_t
struct	stg_bounds_t
struct	stg_cb_t
struct	stg_colorvertex_t
struct	stg_energy_config_t
struct	stg_energy_data_t
struct	stg_fiducial_config_t
struct	stg_fiducial_t
struct	stg_fov_t
struct	stg_geom_t
struct	stg_laser_cfg_t
struct	stg_laser_sample_t
struct	stg_point3_t
struct	stg_point_int_t
struct	stg_point_t
struct	stg_pose_t
struct	stg_property_toggle_args_t
struct	stg_range_bounds_t
struct	stg_ranger_sensor_t
struct	stg_raytrace_sample_t
struct	stg_render_info_t
struct	stg_rotrect_t
struct	stg_size_t
struct	stg_trail_item_t
struct	stg_typetable_entry_t
struct	stg_vertex_t
class	StgAncestor
class	StgBlock
class	StgBlockGrid
class	StgCanvas
class	StgFlag
class	StgModel
class	StgModelBlinkenlight
class	StgModelBlobfinder
class	StgModelFiducial
class	StgModelLaser
class	StgModelPosition
class	StgModelRanger
class	StgWorld
class	StgWorldGui
class	SuperRegion
class	Worldfile
Namespaces
namespace	Draw
Typedefs
typedef int	ctrlinit_t (StgModel *mod)
typedef bool(*	stg_block_match_func_t )(StgBlock candidate, StgModel finder, const void *arg)
typedef uint32_t	stg_bool_t
typedef uint32_t	stg_color_t
typedef StgModel (	stg_creator_t )(StgWorld , StgModel , stg_id_t, char *)
typedef uint32_t	stg_id_t
typedef double	stg_joules_t
typedef double	stg_kg_t
typedef int(*	stg_line3d_func_t )(int32_t x, int32_t y, int32_t z, void *arg)
typedef double	stg_meters_t
typedef int(*	stg_model_callback_t )(StgModel mod, void user)
typedef uint32_t	stg_movemask_t
typedef unsigned long	stg_msec_t
typedef double	stg_radians_t
typedef struct timeval	stg_time_t
typedef uint64_t	stg_usec_t
typedef stg_pose_t	stg_velocity_t
typedef double	stg_watts_t
Enumerations
enum	{ FiducialNone = 0 }
enum	stg_image_format_t { STG_IMAGE_FORMAT_PNG, STG_IMAGE_FORMAT_JPG }
enum	stg_laser_return_t { LaserTransparent, LaserVisible, LaserBright }
	laser return value More...
enum	stg_position_control_mode_t { STG_POSITION_CONTROL_VELOCITY, STG_POSITION_CONTROL_POSITION }
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 }
Functions
stg_cb_t *	cb_create (stg_model_callback_t callback, void *arg)
void	cb_destroy (stg_cb_t *cb)
double	constrain (double val, double minval, double maxval)
double	dtor (double d)
void	gl_coord_shift (double x, double y, double z, double a)
void	gl_draw_grid (stg_bounds3d_t vol)
void	gl_draw_string (float x, float y, float z, char *str)
void	gl_pose_shift (stg_pose_t *pose)
void	Init (int argc, char *argv[])
bool	InitDone ()
double	normalize (double a)
stg_pose_t	pose_sum (stg_pose_t p1, stg_pose_t p2)
double	rtod (double r)
double	sgn (double a)
int	sgn (int a)
void	stg_block_list_destroy (GList *list)
void	stg_block_list_scale (GList blocks, stg_size_t size)
stg_color_t	stg_color_pack (double r, double g, double b, double a)
void	stg_color_unpack (stg_color_t col, double r, double g, double b, double a)
GHashTable *	stg_create_typetable ()
int	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_lookup_color (const char *name)
stg_point_t *	stg_points_create (size_t count)
void	stg_points_destroy (stg_point_t *pts)
int	stg_polygon_3d (stg_point_int_t pts, unsigned int pt_count, stg_line3d_func_t visit_voxel, void arg)
void	stg_pose_sum (stg_pose_t result, stg_pose_t p1, stg_pose_t *p2)
void	stg_print_err (const char *err)
void	stg_print_geom (stg_geom_t *geom)
void	stg_print_pose (stg_pose_t *pose)
void	stg_print_velocity (stg_velocity_t *vel)
stg_msec_t	stg_realtime (void)
stg_msec_t	stg_realtime_since_start (void)
int	stg_rotrects_from_image_file (const char filename, stg_rotrect_t rects, unsigned int rect_count, unsigned int widthp, unsigned int heightp)
void	stg_rotrects_normalize (stg_rotrect_t *rects, int num)
stg_point_t *	stg_unit_square_points_create (void)
GHashTable *	Typetable ()
Variables
const char	AUTHORS []
	Author string.
const double	billion = 1e9
const char	COPYRIGHT []
	Copyright string.
const char	DESCRIPTION []
	Project description string.
const uint32_t	INTERVAL_LOG_LEN = 32
const char	LICENSE []
	Project distribution license string.
const double	million = 1e6
const uint32_t	STG_MOVE_ROT = (1 << 1)
const uint32_t	STG_MOVE_SCALE = (1 << 2)
const uint32_t	STG_MOVE_TRANS = (1 << 0)
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 uint32_t	STG_SHOW_ARROWS = (1<<9)
const uint32_t	STG_SHOW_BLOCKS = (1<<0)
const uint32_t	STG_SHOW_BLOCKS_2D = (1<<10)
const uint32_t	STG_SHOW_CLOCK = (1<<7)
const uint32_t	STG_SHOW_DATA = (1<<1)
const uint32_t	STG_SHOW_FOLLOW = (1<<6)
const uint32_t	STG_SHOW_FOOTPRINT = (1<<10)
const uint32_t	STG_SHOW_GEOM = (1<<2)
const uint32_t	STG_SHOW_GRID = (1<<3)
const uint32_t	STG_SHOW_OCCUPANCY = (1<<4)
const uint32_t	STG_SHOW_QUADTREE = (1<<8)
const uint32_t	STG_SHOW_TRAILS = (1<<5)
const double	thousand = 1e3
const uint32_t	TOKEN_MAX = 64
const char	WEBSITE [] = "http://playerstage.org"
	Project website string.

Typedef Documentation

typedef int Stg::ctrlinit_t(StgModel *mod)

typedef bool(* Stg::stg_block_match_func_t)(StgBlock *candidate, StgModel *finder, const void *arg)

typedef uint32_t Stg::stg_bool_t

boolean

typedef uint32_t Stg::stg_color_t

32-bit ARGB color packed 0xAARRGGBB

typedef StgModel*(* Stg::stg_creator_t)(StgWorld *, StgModel *, stg_id_t, char *)

A model creator function. Each model type must define a function of this type.

typedef uint32_t Stg::stg_id_t

Value that Uniquely identifies a model

typedef double Stg::stg_joules_t

Joules: unit of energy

typedef double Stg::stg_kg_t

Kilograms: unit of mass

typedef int(* Stg::stg_line3d_func_t)(int32_t x, int32_t y, int32_t z, void *arg)

matching function should return 0 iff the candidate block is acceptable

typedef double Stg::stg_meters_t

Metres: floating point unit of distance

typedef int(* Stg::stg_model_callback_t)(StgModel *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 uint32_t Stg::stg_movemask_t

typedef unsigned long Stg::stg_msec_t

Milliseconds: unit of (short) time

typedef double Stg::stg_radians_t

Radians: unit of angle

typedef struct timeval Stg::stg_time_t

time structure

typedef uint64_t Stg::stg_usec_t

Microseconds: unit of (very short) time

typedef stg_pose_t Stg::stg_velocity_t

specify a 3 axis velocity in x, y and heading.

typedef double Stg::stg_watts_t

Watts: unit of power (energy/time)

Enumeration Type Documentation

anonymous enum

any integer value other than this is a valid fiducial ID

Enumerator:

FiducialNone

enum Stg::stg_image_format_t

Describe the image format used for saving screenshots

Enumerator:

STG_IMAGE_FORMAT_PNG
STG_IMAGE_FORMAT_JPG

enum Stg::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::stg_position_control_mode_t

Define a position control method

Enumerator:

STG_POSITION_CONTROL_VELOCITY
STG_POSITION_CONTROL_POSITION

enum Stg::stg_position_drive_mode_t

Define a driving method

Enumerator:

STG_POSITION_DRIVE_DIFFERENTIAL
STG_POSITION_DRIVE_OMNI
STG_POSITION_DRIVE_CAR

enum Stg::stg_position_localization_mode_t

Define a localization method

Enumerator:

STG_POSITION_LOCALIZATION_GPS
STG_POSITION_LOCALIZATION_ODOM

Function Documentation

stg_cb_t * Stg::cb_create	(	stg_model_callback_t	callback,
		void *	arg
	)

References Stg::stg_cb_t::arg, and Stg::stg_cb_t::callback.

Referenced by Stg::StgModel::AddCallback().

void Stg::cb_destroy ( stg_cb_t * cb )

double Stg::constrain	(	double	val,
		double	minval,
		double	maxval
	)

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

double Stg::dtor ( double d ) [inline]

convert an angle in degrees to radians

Referenced by LaserUpdate().

void Stg::gl_coord_shift	(	double	x,
		double	y,
		double	z,
		double	a
	)

References rtod().

Referenced by Stg::StgModel::Draw(), Stg::StgModel::DrawPicker(), and gl_pose_shift().

void Stg::gl_draw_grid ( stg_bounds3d_t vol )

References gl_draw_string(), Stg::stg_bounds_t::max, Stg::stg_bounds_t::min, Stg::stg_bounds3d_t::x, and Stg::stg_bounds3d_t::y.

Referenced by Stg::StgModel::DrawGrid().

void Stg::gl_draw_string	(	float	x,
		float	y,
		float	z,
		char *	string
	)

Render a string at [x,y,z] in the current color

Referenced by Stg::StgModel::Draw(), Stg::StgCanvas::draw(), Stg::StgModel::DrawSelected(), and gl_draw_grid().

void Stg::gl_pose_shift ( stg_pose_t * pose )

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

Referenced by Stg::StgModelRanger::DataVisualize(), Stg::StgModelBlinkenlight::Draw(), Stg::StgModel::Draw(), Stg::StgModel::DrawPicker(), Stg::StgModel::DrawSelected(), Stg::StgModel::DrawTrailArrows(), Stg::StgModel::DrawTrailBlocks(), and Stg::StgModel::DrawTrailFootprint().

void Stg::Init	(	int *	argc,
		char **	argv[]
	)

Initialize the Stage library

References PRINT_DEBUG, PRINT_WARN, and stg_create_typetable().

Referenced by InterfaceSimulation::InterfaceSimulation(), and main().

bool Stg::InitDone ( )

returns true iff Stg::Init() has been called.

double Stg::normalize ( double a ) [inline]

Normalize an angle to within +/_ M_PI

Referenced by Stg::StgModelPosition::Load(), pose_sum(), Stg::StgModel::SetPose(), stg_pose_sum(), and Stg::StgModelPosition::Update().

stg_pose_t Stg::pose_sum	(	stg_pose_t	p1,
		stg_pose_t	p2
	)

returns the sum of [p1] + [p2], in [p1]'s coordinate system

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

Referenced by Stg::StgModel::LocalToGlobal(), and Stg::StgModel::TestCollision().

double Stg::rtod ( double r ) [inline]

convert an angle in radians to degrees

Referenced by Stg::StgModelBlobfinder::DataVisualize(), Stg::StgCanvas::draw(), Stg::StgModel::DrawFlagList(), Stg::StgModel::DrawSelected(), and gl_coord_shift().

double Stg::sgn ( double a ) [inline]

take binary sign of a, either -1, or 1 if >= 0

int Stg::sgn ( int a ) [inline]

take binary sign of a, either -1, or 1 if >= 0

Referenced by stg_line_3d().

void Stg::stg_block_list_destroy ( GList * list )

Referenced by Stg::StgModel::ClearBlocks().

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
	)

Specify a color from its components

Referenced by Stg::StgBlock::Draw(), Stg::StgBlock::Draw2D(), Stg::StgModel::DrawFlagList(), Stg::StgBlock::DrawGlobal(), and Stg::StgModel::Load().

void Stg::stg_color_unpack	(	stg_color_t	col,
		double *	r,
		double *	g,
		double *	b,
		double *	a
	)

Obtain the components of a color

Referenced by Stg::StgBlock::Draw(), Stg::StgBlock::Draw2D(), Stg::StgModel::DrawFlagList(), Stg::StgBlock::DrawGlobal(), Stg::StgModel::DrawTrailArrows(), and Stg::StgModel::DrawTrailFootprint().

GHashTable * Stg::stg_create_typetable ( void )

References Stg::stg_typetable_entry_t::token.

Referenced by Init().

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
	)

Visit every voxel along a vector from (x,y,z) to (x+dx, y+dy, z+dz). Call the function for every voxel, passing in the current voxel coordinates followed by the two arguments. Adapted from Graphics Gems IV, algorithm by Cohen & Kaufman 1991

Visit every voxel along a vector from (x,y,z) to (x+dx, y+dy, z+dz ). Call the function for every voxel, passing in the current voxel coordinates followed by the two arguments. Adapted from Graphics Gems IV, algorithm by Cohen & Kaufman 1991

References sgn().

Referenced by stg_polygon_3d().

stg_color_t Stg::stg_lookup_color ( const char * name )

Look up the color in the X11 database. (i.e. transform color name to color value). If the color is not found in the database, a bright red color (0xF00) will be returned instead.

References PRINT_DEBUG, PRINT_DEBUG1, and PRINT_ERR1.

Referenced by Stg::StgModel::Load(), Stg::StgModelBlobfinder::Load(), Stg::Worldfile::ReadColor(), Stg::StgModelBlinkenlight::StgModelBlinkenlight(), Stg::StgModelLaser::StgModelLaser(), and Stg::StgModelRanger::StgModelRanger().

stg_point_t * Stg::stg_points_create ( size_t count )

Create an array of [count] points. Caller must free the returned pointer, preferably with stg_points_destroy().

Referenced by Stg::StgModel::Load(), and stg_unit_square_points_create().

void Stg::stg_points_destroy ( stg_point_t * pts )

frees a point array

Referenced by Stg::StgModel::Load().

int Stg::stg_polygon_3d	(	stg_point_int_t *	pts,
		unsigned int	pt_count,
		stg_line3d_func_t	visit_voxel,
		void *	arg
	)

Visit every voxel along a polygon defined by the array of points. Calls stg_line_3d().

References stg_line_3d(), Stg::stg_point_int_t::x, and Stg::stg_point_int_t::y.

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

void Stg::stg_pose_sum	(	stg_pose_t *	result,
		stg_pose_t *	p1,
		stg_pose_t *	p2
	)

calculate the sum of [p1] and [p2], in [p1]'s coordinate system, and copy the result into result.

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

Referenced by Stg::StgModel::GetGlobalPose(), and Stg::StgModel::UpdatePose().

void Stg::stg_print_err ( const char * err )

Report an error, with a standard, friendly message header

void Stg::stg_print_geom ( stg_geom_t * geom )

Print human-readable geometry on stdout

References Stg::stg_pose_t::a, Stg::stg_geom_t::pose, Stg::stg_geom_t::size, Stg::stg_size_t::x, Stg::stg_pose_t::x, Stg::stg_size_t::y, and Stg::stg_pose_t::y.

void Stg::stg_print_pose ( stg_pose_t * pose )

Print human-readable pose on stdout

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

void Stg::stg_print_velocity ( stg_velocity_t * vel )

Print human-readable velocity on stdout

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

stg_msec_t Stg::stg_realtime ( void )

Referenced by stg_realtime_since_start().

stg_msec_t Stg::stg_realtime_since_start ( void )

References stg_realtime().

int Stg::stg_rotrects_from_image_file	(	const char *	filename,
		stg_rotrect_t **	rects,
		unsigned int *	rect_count,
		unsigned int *	widthp,
		unsigned int *	heightp
	)

load the image file [filename] and convert it to an array of rectangles, filling in the number of rects, width and height. Memory is allocated for the rectangle array [rects], so the caller must free [rects].

References Stg::stg_pose_t::a, Stg::stg_rotrect_t::pose, Stg::stg_rotrect_t::size, Stg::stg_size_t::x, Stg::stg_pose_t::x, Stg::stg_size_t::y, and Stg::stg_pose_t::y.

Referenced by Stg::StgModel::Load().

void Stg::stg_rotrects_normalize	(	stg_rotrect_t *	rects,
		int	num
	)

normalizes the set [rects] of [num] rectangles, so that they fit exactly in a unit square.

References billion, Stg::stg_rotrect_t::pose, Stg::stg_rotrect_t::size, Stg::stg_size_t::x, Stg::stg_pose_t::x, Stg::stg_size_t::y, and Stg::stg_pose_t::y.

stg_point_t * Stg::stg_unit_square_points_create ( )

create an array of 4 points containing the corners of a unit square.

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

GHashTable * Stg::Typetable ( )

Returns a hash table of model creator functions indexed by worldfile model string

Referenced by Stg::StgWorld::Load().

Variable Documentation

const char Stg::AUTHORS[]

Initial value:

                    
    "Richard Vaughan, Brian Gerkey, Andrew Howard, Reed Hedges, Pooya Karimian and contributors."

Author string.

const double Stg::billion = 1e9

Convenient constant

Referenced by Stg::StgBlock::ScaleList(), and stg_rotrects_normalize().

const char Stg::COPYRIGHT[]

Initial value:

                       
    "Copyright Richard Vaughan and contributors 2000-2008"

Copyright string.

const char Stg::DESCRIPTION[]

Initial value:

                       
    "Robot simulation library\nPart of the Player Project"

Project description string.

const uint32_t Stg::INTERVAL_LOG_LEN = 32

Referenced by Stg::StgWorld::ClockString(), Stg::StgWorld::IdleUntilNextUpdateTime(), and Stg::StgWorld::PauseUntilNextUpdateTime().

const char Stg::LICENSE[]

Initial value:

 
    "Stage robot simulation library\n"                  
    "Copyright (C) 2000-2008 Richard Vaughan and contributors\n"    
    "Part of the Player Project [http://playerstage.org]\n"     
    "\n"                                
    "This program is free software; you can redistribute it and/or\n"   
    "modify it under the terms of the GNU General Public License\n" 
    "as published by the Free Software Foundation; either version 2\n"  
    "of the License, or (at your option) any later version.\n"      
    "\n"                                
    "This program is distributed in the hope that it will be useful,\n" 
    "but WITHOUT ANY WARRANTY; without even the implied warranty of\n"  
    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\n"   
    "GNU General Public License for more details.\n"            
    "\n"                                
    "You should have received a copy of the GNU General Public License\n" 
    "along with this program; if not, write to the Free Software\n" 
    "Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.\n" 
    "\n"                                
    "The text of the license may also be available online at\n"     
    "http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n"