Stg Namespace Reference

The Stage library uses its own namespace. More...

Namespaces
namespace	Gl
Classes
class	Ancestor
struct	blinkenlight_t
class	Block
class	BlockGroup
class	Bounds
class	bounds3d_t
class	Camera
class	Canvas
class	Cell
class	Color
class	CProperty
	Property class. More...
class	CtrlArgs
class	FileManager
struct	fov_t
class	Geom
class	LogEntry
class	Model
	Model class More...
class	ModelActuator
	ModelActuator class More...
class	ModelBlinkenlight
class	ModelBlobfinder
	ModelBlobfinder class More...
class	ModelCamera
	ModelCamera class More...
class	ModelFiducial
	ModelFiducial class More...
class	ModelGripper
class	ModelLightIndicator
class	ModelPosition
	ModelPosition class More...
class	ModelRanger
	ModelRanger class More...
class	Option
class	OptionsDlg
class	OrthoCamera
class	PerspectiveCamera
class	point3_t
class	point_int_t
class	point_t
class	Pose
class	PowerPack
class	Ray
class	RaytraceResult
class	Region
struct	rotrect_t
class	Size
class	StripPlotVis
class	SuperRegion
class	TextureManager
	Singleton for loading textures (not threadsafe) More...
class	Velocity
class	Visualizer
class	World
	World class More...
class	Worldfile
class	WorldGui
Typedefs
typedef Model *(*	creator_t )(World *, Model *, const std::string &type)
typedef uint32_t	id_t
typedef double	joules_t
typedef double	kg_t
typedef double	meters_t
typedef int(*	model_callback_t )(Model *mod, void *user)
typedef unsigned long	msec_t
typedef double	radians_t
typedef bool(*	ray_test_func_t )(Model *candidate, Model *finder, const void *arg)
typedef struct timeval	time_t
typedef uint64_t	usec_t
typedef double	watts_t
typedef int(*	world_callback_t )(World *world, void *user)
Enumerations
enum	{ FiducialNone = 0 }
Functions
const int32_t	CELLMASK (~((~0x00)<< RBITS))
double	constrain (double val, double minval, double maxval)
double	dtor (double d)
template<class T , class C >
void	EraseAll (T thing, C &cont)
int32_t	GETCELL (const int32_t x)
int32_t	GETREG (const int32_t x)
int32_t	GETSREG (const int32_t x)
void	Init (int *argc, char **argv[])
bool	InitDone ()
double	normalize (double a)
const int32_t	RBITS (5)
const int32_t	REGIONMASK (~((~0x00)<< SRBITS))
const int32_t	REGIONSIZE (REGIONWIDTH *REGIONWIDTH)
const int32_t	REGIONWIDTH (1<< RBITS)
void	RegisterModels ()
int	rotrects_from_image_file (const std::string &filename, std::vector< rotrect_t > &rects)
double	rtod (double r)
const int32_t	SBITS (5)
int	sgn (int a)
double	sgn (double a)
const int32_t	SRBITS (RBITS+SBITS)
const int32_t	SUPERREGIONSIZE (SUPERREGIONWIDTH *SUPERREGIONWIDTH)
const int32_t	SUPERREGIONWIDTH (1<< SBITS)
point_t *	unit_square_points_create ()
const char *	Version ()
Variables
const char	AUTHORS [] = "Richard Vaughan, Brian Gerkey, Andrew Howard, Reed Hedges, Pooya Karimian, Toby Collett, Jeremy Asher, Alex Couture-Beil and contributors."
const double	billion = 1e9
const char	COPYRIGHT [] = "Copyright Richard Vaughan and contributors 2000-2009"
const char	DESCRIPTION [] = "Robot simulation library\nPart of the Player Project"
const char	LICENSE [] = "http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n"
const double	million = 1e6
const double	thousand = 1e3
const char	WEBSITE [] = "http://playerstage.org"

---

Detailed Description

The Stage library uses its own namespace.

---

Typedef Documentation

typedef Model*(* Stg::creator_t)(World *, Model *, const std::string &type)

typedef uint32_t Stg::id_t

Value that uniquely identifies a model

typedef double Stg::joules_t

Joules: unit of energy

typedef double Stg::kg_t

Kilograms: unit of mass

typedef double Stg::meters_t

Metres: floating point unit of distance

typedef int(* Stg::model_callback_t)(Model *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 unsigned long Stg::msec_t

Milliseconds: unit of (short) time

typedef double Stg::radians_t

Radians: unit of angle

typedef bool(* Stg::ray_test_func_t)(Model *candidate, Model *finder, const void *arg)

matching function should return true iff the candidate block is stops the ray, false if the block transmits the ray

typedef struct timeval Stg::time_t

time structure

typedef uint64_t Stg::usec_t

Microseconds: unit of (very short) time

typedef double Stg::watts_t

Watts: unit of power (energy/time)

typedef int(* Stg::world_callback_t)(World *world, void *user)

---

Enumeration Type Documentation

anonymous enum

any integer value other than this is a valid fiducial ID

Enumerator:

FiducialNone

---

Function Documentation

const int32_t Stg::CELLMASK

(

~

(~0x00)<< RBITS

)

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

double Stg::dtor

(

double

d

)

[inline]

convert an angle in degrees to radians.

template<class T , class C >

void Stg::EraseAll	(	T	thing,
		C &	cont
	)

wrapper for Erase-Remove method of removing all instances of thing from container

int32_t Stg::GETCELL

(

const int32_t

x

)

[inline]

int32_t Stg::GETREG

(

const int32_t

x

)

[inline]

int32_t Stg::GETSREG

(

const int32_t

x

)

[inline]

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

Initialize the Stage library. Stage will parse the argument array looking for parameters in the conventnioal way.

bool Stg::InitDone

(

)

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

double Stg::normalize

(

double

a

)

[inline]

Normalize an angle to within +/_ M_PI.

const int32_t Stg::RBITS

(

5

)

const int32_t Stg::REGIONMASK

(

~

(~0x00)<< SRBITS

)

const int32_t Stg::REGIONSIZE

(

REGIONWIDTH *

REGIONWIDTH

)

const int32_t Stg::REGIONWIDTH

(

1<<

RBITS

)

void Stg::RegisterModels

(

)

Map model names to named constructors for each model type

int Stg::rotrects_from_image_file	(	const std::string &	filename,
		std::vector< rotrect_t > &	rects
	)

load the image file [filename] and convert it to an array of rectangles, filling in the number of rects, width and height. The vector [rects] is populated with rectangles.

double Stg::rtod

(

double

r

)

[inline]

convert an angle in radians to degrees.

const int32_t Stg::SBITS

(

5

)

int Stg::sgn

(

int

a

)

[inline]

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

double Stg::sgn

(

double

a

)

[inline]

take binary sign of a, either -1.0, or 1.0 if >= 0.

const int32_t Stg::SRBITS

(

RBITS+

SBITS

)

const int32_t Stg::SUPERREGIONSIZE

(

SUPERREGIONWIDTH *

SUPERREGIONWIDTH

)

const int32_t Stg::SUPERREGIONWIDTH

(

1<<

SBITS

)

point_t * Stg::unit_square_points_create

(

void

)

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

const char * Stg::Version

(

)

returns a human readable string indicating the libstage version number.

---

Variable Documentation

const char Stg::AUTHORS[] = "Richard Vaughan, Brian Gerkey, Andrew Howard, Reed Hedges, Pooya Karimian, Toby Collett, Jeremy Asher, Alex Couture-Beil and contributors."

Author string

const double Stg::billion = 1e9

Convenient constant

const char Stg::COPYRIGHT[] = "Copyright Richard Vaughan and contributors 2000-2009"

Copyright string

const char Stg::DESCRIPTION[] = "Robot simulation library\nPart of the Player Project"

Project description string

const char Stg::LICENSE[] = "http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n"

Project distribution license string

const double Stg::million = 1e6

Convenient constant

const double Stg::thousand = 1e3

Convenient constant

const char Stg::WEBSITE[] = "http://playerstage.org"

Project website string