Stg::Model Class Reference

Model class More...

#include <stage.hh>

Inheritance diagram for Stg::Model:

Classes
class	CallbackHooks
class	Flag
class	GuiState
class	RasterVis
class	stg_cb_t
class	TrailItem
class	Visibility
Public Member Functions
Block *	AddBlockRect (stg_meters_t x, stg_meters_t y, stg_meters_t dx, stg_meters_t dy, stg_meters_t dz)
void	AddCallback (void address, stg_model_callback_t cb, void user)
void	AddFlag (Flag *flag)
void	AddFlagDecrCallback (stg_model_callback_t cb, void *user)
void	AddFlagIncrCallback (stg_model_callback_t cb, void *user)
void	AddLoadCallback (stg_model_callback_t cb, void *user)
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 (const Pose &pose)
void	AddUpdateCallback (stg_model_callback_t cb, void *user)
void	AddVisualizer (Visualizer *custom_visual, bool on_by_default)
void	BecomeParentOf (Model *child)
int	CallCallbacks (void *address)
void	ClearBlocks ()
bool	DataIsFresh () const
void	Disable ()
void	Enable ()
PowerPack *	FindPowerPack () const
Model *	GetChild (const std::string &name) const
Color	GetColor () const
stg_usec_t	GetEnergyInterval ()
int	GetFiducialReturn () const
int	GetFlagCount () const
Geom	GetGeom () const
Pose	GetGlobalPose () const
Velocity	GetGlobalVelocity () const
uint32_t	GetId () const
stg_kg_t	GetMassOfChildren ()
const std::string &	GetModelType () const
Pose	GetPose () const
stg_usec_t	GetPoseInterval ()
std::string	GetSayString ()
unsigned int	GetSubscriptionCount () const
stg_kg_t	GetTotalMass ()
Model *	GetUnsubscribedModelOfType (const std::string &type) const
Model *	GetUnusedModelOfType (const std::string &type)
stg_usec_t	GetUpdateInterval ()
Velocity	GetVelocity () const
World *	GetWorld () const
Pose	GlobalToLocal (const Pose &pose) const
bool	HasSubscribers () const
void	InitControllers ()
bool	IsAntecedent (const Model *testmod) const
bool	IsDescendent (const Model *testmod) const
bool	IsRelated (const Model *testmod) const
virtual void	Load ()
void	Load (Worldfile *wf, int wf_entity)
void	LoadBlock (Worldfile *wf, int entity)
void	LoadControllerModule (const char *lib)
stg_point_t	LocalToGlobal (const stg_point_t &pt) const
Pose	LocalToGlobal (const Pose &pose) const
void	LocalToPixels (const std::vector< stg_point_t > &local, std::vector< stg_point_int_t > &pixels) const
	Model (World world, Model parent=NULL, const std::string &type="model")
void	NeedRedraw ()
Model *	Parent () const
void	PlaceInFreeSpace (stg_meters_t xmin, stg_meters_t xmax, stg_meters_t ymin, stg_meters_t ymax)
virtual void	PopColor ()
Flag *	PopFlag ()
std::string	PoseString ()
virtual void	Print (char *prefix) const
virtual const char *	PrintWithPose () const
virtual void	PushColor (double r, double g, double b, double a)
virtual void	PushColor (Color col)
void	PushFlag (Flag *flag)
void	Rasterize (uint8_t *data, unsigned int width, unsigned int height, stg_meters_t cellwidth, stg_meters_t cellheight)
int	RemoveCallback (void *member, stg_model_callback_t callback)
void	RemoveFlag (Flag *flag)
void	RemoveFlagDecrCallback (stg_model_callback_t cb)
void	RemoveFlagIncrCallback (stg_model_callback_t cb)
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)
void	RemoveVisualizer (Visualizer *custom_visual)
Model *	Root ()
virtual void	Save ()
void	Say (const std::string &str)
void	SetBlobReturn (int val)
void	SetBoundary (int val)
void	SetColor (Color col)
void	SetFiducialKey (int key)
void	SetFiducialReturn (int fid)
void	SetFriction (double friction)
void	SetGeom (const Geom &src)
void	SetGlobalPose (const Pose &gpose)
void	SetGlobalVelocity (const Velocity &gvel)
void	SetGravityReturn (int val)
void	SetGripperReturn (int val)
void	SetGuiGrid (int val)
void	SetGuiMove (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 (Model *newparent)
void	SetPose (const Pose &pose)
void	SetRangerReturn (int val)
void	SetStall (stg_bool_t stall)
void	SetStickyReturn (int val)
void	SetVelocity (const Velocity &vel)
void	SetWatts (stg_watts_t watts)
void	SetWorldfile (Worldfile *wf, int wf_entity)
bool	Stalled () const
void	Subscribe ()
void	Unsubscribe ()
void	VelocityDisable ()
void	VelocityEnable ()
virtual	~Model ()
Static Public Member Functions
static Model *	LookupId (uint32_t id)
Public Attributes
class Stg::Model::Visibility	vis
Static Public Attributes
static std::map< std::string, creator_t >	name_map
Protected Member Functions
void	AppendTouchingModels (ModelPtrSet &touchers)
void	CommitTestedPose ()
Model *	ConditionalMove (const Pose &newpose)
virtual void	DataVisualize (Camera *cam)
void	DataVisualizeTree (Camera *cam)
virtual void	DrawBlocks ()
void	DrawBlocksTree ()
void	DrawBoundingBox ()
void	DrawBoundingBoxTree ()
void	DrawFlagList ()
void	DrawGrid ()
void	DrawImage (uint32_t texture_id, Camera *cam, float alpha, double width=1.0, double height=1.0)
void	DrawOrigin ()
void	DrawOriginTree ()
virtual void	DrawPicker ()
void	DrawPose (Pose pose)
virtual void	DrawSelected (void)
virtual void	DrawStatus (Camera *cam)
void	DrawStatusTree (Camera *cam)
void	DrawTrailArrows ()
void	DrawTrailBlocks ()
void	DrawTrailFootprint ()
void	GPoseDirtyTree ()
void	Map ()
void	MapFromRoot ()
void	MapWithChildren ()
stg_meters_t	ModelHeight () const
void	PopCoords ()
void	PushLocalCoords ()
void	Raytrace (const stg_radians_t bearing, const stg_meters_t range, const stg_radians_t fov, const stg_ray_test_func_t func, const void arg, stg_raytrace_result_t samples, const uint32_t sample_count, const bool ztest=true)
stg_raytrace_result_t	Raytrace (const stg_radians_t bearing, const stg_meters_t range, const stg_ray_test_func_t func, const void *arg, const bool ztest=true)
void	Raytrace (const Pose &pose, const stg_meters_t range, const stg_radians_t fov, const stg_ray_test_func_t func, const void arg, stg_raytrace_result_t samples, const uint32_t sample_count, const bool ztest=true)
stg_raytrace_result_t	Raytrace (const Pose &pose, const stg_meters_t range, const stg_ray_test_func_t func, const void *arg, const bool ztest=true)
void	RegisterOption (Option *opt)
virtual void	Shutdown ()
virtual void	Startup ()
Model *	TestCollision ()
Model *	TestCollisionTree ()
void	UnMap ()
void	UnMapFromRoot ()
void	UnMapWithChildren ()
virtual void	Update ()
virtual void	UpdateCharge ()
virtual void	UpdatePose ()
void	UpdateTrail ()
Protected Attributes
pthread_mutex_t	access_mutex
	Used by Lock() and Unlock() to prevent parallel access to this model.
bool	alwayson
BlockGroup	blockgroup
int	blocks_dl
int	boundary
Color	color
std::list< Visualizer * >	cv_list
bool	data_fresh
stg_bool_t	disabled
	if non-zero, the model is disabled
unsigned int	event_queue_num
std::list< Flag * >	flag_list
double	friction
Geom	geom
class Stg::Model::GuiState	gui
bool	has_default_block
class Stg::Model::CallbackHooks	hooks
uint32_t	id
stg_usec_t	interval
	time between updates in usec
stg_usec_t	interval_energy
	time between updates of powerpack in usec
stg_usec_t	interval_pose
	time between updates of pose due to velocity in usec
stg_usec_t	last_update
	time of last update in us
bool	log_state
	iff true, model state is logged
stg_meters_t	map_resolution
stg_kg_t	mass
Model *	parent
Pose	pose
PowerPack *	power_pack
std::list< PowerPack * >	pps_charging
std::map< std::string, const void * >	props
Stg::Model::RasterVis	rastervis
bool	rebuild_displaylist
	iff true, regenerate block display list before redraw
std::string	say_string
	if non-null, this string is displayed in the GUI
stg_bool_t	stall
int	subs
	the number of subscriptions to this model
bool	thread_safe
std::vector< TrailItem >	trail
unsigned int	trail_index
const std::string	type
bool	used
	TRUE iff this model has been returned by GetUnusedModelOfType().
Velocity	velocity
bool	velocity_enable
stg_watts_t	watts
	power consumed by this model
stg_watts_t	watts_give
stg_watts_t	watts_take
Worldfile *	wf
int	wf_entity
World *	world
WorldGui *	world_gui
Static Protected Attributes
static std::map< void *, std::set< stg_cb_t > >	callbacks
static uint64_t	trail_interval
static unsigned int	trail_length
Private Member Functions
const std::vector< Option * > &	getOptions () const
	Model (const Model &original)
Model &	operator= (const Model &original)
Private Attributes
std::vector< Option * >	drawOptions
Static Private Attributes
static uint32_t	count
static std::map< stg_id_t, Model * >	modelsbyid
Friends
class	Ancestor
class	Block
class	BlockGroup
class	Canvas
class	PowerPack
class	Ray
class	Region
class	World
class	World::Event
class	WorldGui

Detailed Description

Model class

Definition at line 1579 of file stage.hh.

Constructor & Destructor Documentation

Stg::Model::Model ( const Model & original ) [explicit, private]

Private copy constructor declared but not defined, to make it impossible to copy models.

Stg::Model::Model	(	World *	world,
		Model *	parent = `NULL`,
		const std::string &	type = `"model"`
	)

Constructor

virtual Stg::Model::~Model ( ) [virtual]

Destructor

Member Function Documentation

Block* Stg::Model::AddBlockRect	(	stg_meters_t	x,
		stg_meters_t	y,
		stg_meters_t	dx,
		stg_meters_t	dy,
		stg_meters_t	dz
	)

Add a block to this model centered at [x,y] with extent [dx, dy, dz]

void Stg::Model::AddCallback	(	void *	address,
		stg_model_callback_t	cb,
		void *	user
	)

void Stg::Model::AddFlag ( Flag * flag )

void Stg::Model::AddFlagDecrCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

Definition at line 2266 of file stage.hh.

void Stg::Model::AddFlagIncrCallback	(	stg_model_callback_t	cb,
		void *	user
	)			`[inline]`

Definition at line 2260 of file stage.hh.

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

Definition at line 2242 of file stage.hh.

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

Definition at line 2248 of file stage.hh.

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

Definition at line 2236 of file stage.hh.

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

Definition at line 2230 of file stage.hh.

void Stg::Model::AddToPose	(	double	dx,
		double	dy,
		double	dz,
		double	da
	)

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

void Stg::Model::AddToPose ( const Pose & pose )

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

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

Definition at line 2254 of file stage.hh.

void Stg::Model::AddVisualizer	(	Visualizer *	custom_visual,
		bool	on_by_default
	)

Attach a user supplied visualization to a model.

void Stg::Model::AppendTouchingModels ( ModelPtrSet & touchers ) [protected]

void Stg::Model::BecomeParentOf ( Model * child )

int Stg::Model::CallCallbacks ( void * address )

void Stg::Model::ClearBlocks ( )

remove all blocks from this model, freeing their memory

void Stg::Model::CommitTestedPose ( ) [protected]

Model* Stg::Model::ConditionalMove ( const Pose & newpose ) [protected]

bool Stg::Model::DataIsFresh ( ) const [inline]

Definition at line 2213 of file stage.hh.

virtual void Stg::Model::DataVisualize ( Camera * cam ) [protected, virtual]

Reimplemented in Stg::ModelGripper, Stg::ModelFiducial, Stg::ModelRanger, Stg::ModelBlinkenlight, and Stg::ModelCamera.

void Stg::Model::DataVisualizeTree ( Camera * cam ) [protected]

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

Disable the model. Its pose will not change due to velocity until re-enabled using Enable(). This is used for example when dragging a model with the mouse pointer. The model is enabled by default.

Definition at line 2072 of file stage.hh.

virtual void Stg::Model::DrawBlocks ( ) [protected, virtual]

Reimplemented in Stg::ModelLightIndicator.

void Stg::Model::DrawBlocksTree ( ) [protected]

void Stg::Model::DrawBoundingBox ( ) [protected]

void Stg::Model::DrawBoundingBoxTree ( ) [protected]

void Stg::Model::DrawFlagList ( ) [protected]

void Stg::Model::DrawGrid ( ) [protected]

void Stg::Model::DrawImage	(	uint32_t	texture_id,
		Camera *	cam,
		float	alpha,
		double	width = `1.0`,
		double	height = `1.0`
	)			`[protected]`

Draw the image stored in texture_id above the model

void Stg::Model::DrawOrigin ( ) [protected]

void Stg::Model::DrawOriginTree ( ) [protected]

virtual void Stg::Model::DrawPicker ( ) [protected, virtual]

void Stg::Model::DrawPose ( Pose pose ) [protected]

virtual void Stg::Model::DrawSelected ( void ) [protected, virtual]

virtual void Stg::Model::DrawStatus ( Camera * cam ) [protected, virtual]

void Stg::Model::DrawStatusTree ( Camera * cam ) [protected]

void Stg::Model::DrawTrailArrows ( ) [protected]

void Stg::Model::DrawTrailBlocks ( ) [protected]

void Stg::Model::DrawTrailFootprint ( ) [protected]

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

Enable the model, so that non-zero velocities will change the model's pose. Models are enabled by default.

Definition at line 2076 of file stage.hh.

PowerPack* Stg::Model::FindPowerPack ( ) const

Model* Stg::Model::GetChild ( const std::string & name ) const

Returns a pointer to the model identified by name, or NULL if it doesn't exist in this model.

Color Stg::Model::GetColor ( ) const [inline]

Definition at line 2167 of file stage.hh.

stg_usec_t Stg::Model::GetEnergyInterval ( ) [inline]

Definition at line 1875 of file stage.hh.

int Stg::Model::GetFiducialReturn ( ) const [inline]

Get a model's fiducial return value.

Definition at line 2161 of file stage.hh.

int Stg::Model::GetFlagCount ( ) const [inline]

Definition at line 2066 of file stage.hh.

Geom Stg::Model::GetGeom ( ) const [inline]

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

Definition at line 2183 of file stage.hh.

Pose Stg::Model::GetGlobalPose ( ) const

get the pose of a model in the global CS

Velocity Stg::Model::GetGlobalVelocity ( ) const

get the velocity of a model in the global CS

uint32_t Stg::Model::GetId ( ) const [inline]

return a model's unique process-wide identifier

Definition at line 2170 of file stage.hh.

stg_kg_t Stg::Model::GetMassOfChildren ( )

Get the mass of this model's children recursively.

const std::string& Stg::Model::GetModelType ( ) const [inline]

Definition at line 1850 of file stage.hh.

const std::vector<Option*>& Stg::Model::getOptions ( ) const [inline, private]

Definition at line 1597 of file stage.hh.

Pose Stg::Model::GetPose ( ) const [inline]

Get (a copy of) the pose of a model in its parent's coordinate system.

Definition at line 2187 of file stage.hh.

stg_usec_t Stg::Model::GetPoseInterval ( ) [inline]

Definition at line 1876 of file stage.hh.

std::string Stg::Model::GetSayString ( ) [inline]

Definition at line 1851 of file stage.hh.

unsigned int Stg::Model::GetSubscriptionCount ( ) const [inline]

Returns the current number of subscriptions. If alwayson, this is never less than 1.

Definition at line 2309 of file stage.hh.

stg_kg_t Stg::Model::GetTotalMass ( )

Get the total mass of a model and it's children recursively

Model* Stg::Model::GetUnsubscribedModelOfType ( const std::string & type ) const

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

Model* Stg::Model::GetUnusedModelOfType ( const std::string & type )

returns the first descendent of this model that is unused and has the type indicated by the string. This model is tagged as used.

stg_usec_t Stg::Model::GetUpdateInterval ( ) [inline]

Definition at line 1874 of file stage.hh.

Velocity Stg::Model::GetVelocity ( ) const [inline]

Get (a copy of) the model's velocity in its local reference frame.

Definition at line 2191 of file stage.hh.

World* Stg::Model::GetWorld ( ) const [inline]

Returns a pointer to the world that contains this model

Definition at line 2104 of file stage.hh.

Pose Stg::Model::GlobalToLocal ( const Pose & pose ) const

Given a global pose, returns that pose in the model's local coordinate system.

void Stg::Model::GPoseDirtyTree ( ) [protected]

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

bool Stg::Model::HasSubscribers ( ) const [inline]

Returns true if the model has one or more subscribers, else false.

Definition at line 2312 of file stage.hh.

void Stg::Model::InitControllers ( )

Call Init() for all attached controllers.

bool Stg::Model::IsAntecedent ( const Model * testmod ) const

bool Stg::Model::IsDescendent ( const Model * testmod ) const

returns true if model [testmod] is a descendent of this model

bool Stg::Model::IsRelated ( const Model * testmod ) const

returns true if model [testmod] is a descendent or antecedent of this model

virtual void Stg::Model::Load ( ) [virtual]

configure a model by reading from the current world file

Reimplemented in Stg::ModelBlobfinder, Stg::ModelLaser, Stg::ModelGripper, Stg::ModelFiducial, Stg::ModelRanger, Stg::ModelBlinkenlight, Stg::ModelCamera, Stg::ModelPosition, and Stg::ModelActuator.

void Stg::Model::Load	(	Worldfile *	wf,
		int	wf_entity
	)			`[inline]`

Set the worldfile and worldfile entity ID - must be called before Load()

Reimplemented from Stg::Ancestor.

Definition at line 2039 of file stage.hh.

void Stg::Model::LoadBlock	(	Worldfile *	wf,
		int	entity
	)

Add a block to this model by loading it from a worldfile entity

void Stg::Model::LoadControllerModule ( const char * lib )

Load a control program for this model from an external library

stg_point_t Stg::Model::LocalToGlobal ( const stg_point_t & pt ) const

Return the 2d point in world coordinates of a 2d point specified in the model's local coordinate system

Pose Stg::Model::LocalToGlobal ( const Pose & pose ) const [inline]

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

Definition at line 2282 of file stage.hh.

void Stg::Model::LocalToPixels	(	const std::vector< stg_point_t > &	local,
		std::vector< stg_point_int_t > &	pixels
	)			const

Fill an array of global pixels from an array of local points.

static Model* Stg::Model::LookupId ( uint32_t id ) [inline, static]

Look up a model pointer by a unique model ID

Definition at line 2018 of file stage.hh.

void Stg::Model::Map ( ) [protected]

void Stg::Model::MapFromRoot ( ) [protected]

void Stg::Model::MapWithChildren ( ) [protected]

stg_meters_t Stg::Model::ModelHeight ( ) const [protected]

void Stg::Model::NeedRedraw ( )

Sets the redraw flag, so this model will be redrawn at the earliest opportunity

Model& Stg::Model::operator= ( const Model & original ) [private]

Private assignment operator declared but not defined, to make it impossible to copy models

Model* Stg::Model::Parent ( ) const [inline]

Returns a pointer to this model's parent model, or NULL if this model has no parent

Definition at line 2101 of file stage.hh.

void Stg::Model::PlaceInFreeSpace	(	stg_meters_t	xmin,
		stg_meters_t	xmax,
		stg_meters_t	ymin,
		stg_meters_t	ymax
	)

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

Definition at line 2003 of file stage.hh.

void Stg::Model::PopCoords ( ) [protected]

Flag* Stg::Model::PopFlag ( )

std::string Stg::Model::PoseString ( ) [inline]

Return a human-readable string describing the model's pose

Definition at line 2014 of file stage.hh.

virtual void Stg::Model::Print ( char * prefix ) const [virtual]

virtual const char* Stg::Model::PrintWithPose ( ) const [virtual]

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

Definition at line 2002 of file stage.hh.

virtual void Stg::Model::PushColor ( Color col ) [inline, virtual]

Definition at line 2001 of file stage.hh.

void Stg::Model::PushFlag ( Flag * flag )

void Stg::Model::PushLocalCoords ( ) [protected]

void Stg::Model::Rasterize	(	uint8_t *	data,
		unsigned int	width,
		unsigned int	height,
		stg_meters_t	cellwidth,
		stg_meters_t	cellheight
	)

Render the model's blocks as an occupancy grid into the preallocated array of width by height pixels

void Stg::Model::Raytrace	(	const stg_radians_t	bearing,
		const stg_meters_t	range,
		const stg_radians_t	fov,
		const stg_ray_test_func_t	func,
		const void *	arg,
		stg_raytrace_result_t *	samples,
		const uint32_t	sample_count,
		const bool	ztest = `true`
	)			`[protected]`

stg_raytrace_result_t Stg::Model::Raytrace	(	const stg_radians_t	bearing,
		const stg_meters_t	range,
		const stg_ray_test_func_t	func,
		const void *	arg,
		const bool	ztest = `true`
	)			`[protected]`

void Stg::Model::Raytrace	(	const Pose &	pose,
		const stg_meters_t	range,
		const stg_radians_t	fov,
		const stg_ray_test_func_t	func,
		const void *	arg,
		stg_raytrace_result_t *	samples,
		const uint32_t	sample_count,
		const bool	ztest = `true`
	)			`[protected]`

raytraces multiple rays around the point and heading identified by pose, in local coords

stg_raytrace_result_t Stg::Model::Raytrace	(	const Pose &	pose,
		const stg_meters_t	range,
		const stg_ray_test_func_t	func,
		const void *	arg,
		const bool	ztest = `true`
	)			`[protected]`

raytraces a single ray from the point and heading identified by pose, in local coords

void Stg::Model::RegisterOption ( Option * opt ) [protected]

Register an Option for pickup by the GUI.

int Stg::Model::RemoveCallback	(	void *	member,
		stg_model_callback_t	callback
	)

void Stg::Model::RemoveFlag ( Flag * flag )

void Stg::Model::RemoveFlagDecrCallback ( stg_model_callback_t cb ) [inline]

Definition at line 2269 of file stage.hh.

void Stg::Model::RemoveFlagIncrCallback ( stg_model_callback_t cb ) [inline]

Definition at line 2263 of file stage.hh.

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

Definition at line 2245 of file stage.hh.

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

Definition at line 2251 of file stage.hh.

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

Definition at line 2239 of file stage.hh.

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

Definition at line 2233 of file stage.hh.

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

Definition at line 2257 of file stage.hh.

void Stg::Model::RemoveVisualizer ( Visualizer * custom_visual )

remove user supplied visualization to a model - supply the same ptr passed to AddCustomVisualizer

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

return the root model of the tree containing this model

Definition at line 2107 of file stage.hh.

virtual void Stg::Model::Save ( ) [virtual]

save the state of the model to the current world file

Reimplemented in Stg::ModelGripper.

void Stg::Model::Say ( const std::string & str )

void Stg::Model::SetBlobReturn ( int val )

void Stg::Model::SetBoundary ( int val )

void Stg::Model::SetColor ( Color col )

void Stg::Model::SetFiducialKey ( int key )

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

void Stg::Model::SetFiducialReturn ( int fid )

Set a model's fiducial return value. Values less than zero are not detected by the fiducial sensor.

void Stg::Model::SetFriction ( double friction )

void Stg::Model::SetGeom ( const Geom & src )

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

void Stg::Model::SetGlobalPose ( const Pose & gpose )

set the pose of model in global coordinates

void Stg::Model::SetGlobalVelocity ( const Velocity & gvel )

void Stg::Model::SetGravityReturn ( int val )

void Stg::Model::SetGripperReturn ( int val )

void Stg::Model::SetGuiGrid ( int val )

void Stg::Model::SetGuiMove ( int val )

void Stg::Model::SetGuiNose ( int val )

void Stg::Model::SetGuiOutline ( int val )

void Stg::Model::SetLaserReturn ( stg_laser_return_t val )

void Stg::Model::SetMapResolution ( stg_meters_t res )

void Stg::Model::SetMass ( stg_kg_t mass )

void Stg::Model::SetObstacleReturn ( int val )

int Stg::Model::SetParent ( Model * newparent )

Change a model's parent - experimental

void Stg::Model::SetPose ( const Pose & pose )

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

void Stg::Model::SetRangerReturn ( int val )

void Stg::Model::SetStall ( stg_bool_t stall )

void Stg::Model::SetStickyReturn ( int val )

void Stg::Model::SetVelocity ( const Velocity & vel )

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

void Stg::Model::SetWatts ( stg_watts_t watts )

void Stg::Model::SetWorldfile	(	Worldfile *	wf,
		int	wf_entity
	)			`[inline]`

Set the worldfile and worldfile entity ID

Definition at line 2048 of file stage.hh.

virtual void Stg::Model::Shutdown ( ) [protected, virtual]

Reimplemented in Stg::ModelBlobfinder, Stg::ModelLaser, Stg::ModelFiducial, Stg::ModelRanger, Stg::ModelPosition, and Stg::ModelActuator.

bool Stg::Model::Stalled ( ) const [inline]

Returns the value of the model's stall boolean, which is true iff the model has crashed into another model

Definition at line 2305 of file stage.hh.

virtual void Stg::Model::Startup ( ) [protected, virtual]

Reimplemented in Stg::ModelBlobfinder, Stg::ModelLaser, Stg::ModelRanger, Stg::ModelPosition, and Stg::ModelActuator.

void Stg::Model::Subscribe ( )

subscribe to a model's data

Model* Stg::Model::TestCollision ( ) [protected]

Check to see if the current pose will yield a collision with obstacles. Returns a pointer to the first entity we are in collision with, or NULL if no collision exists.

Model* Stg::Model::TestCollisionTree ( ) [protected]

Recursively call TestCollision() on this model and all its descendents

void Stg::Model::UnMap ( ) [protected]

void Stg::Model::UnMapFromRoot ( ) [protected]

void Stg::Model::UnMapWithChildren ( ) [protected]

void Stg::Model::Unsubscribe ( )

unsubscribe from a model's data

virtual void Stg::Model::Update ( ) [protected, virtual]

Reimplemented in Stg::ModelBlobfinder, Stg::ModelLaser, Stg::ModelGripper, Stg::ModelFiducial, Stg::ModelRanger, Stg::ModelBlinkenlight, Stg::ModelCamera, Stg::ModelPosition, and Stg::ModelActuator.

virtual void Stg::Model::UpdateCharge ( ) [protected, virtual]

virtual void Stg::Model::UpdatePose ( ) [protected, virtual]

void Stg::Model::UpdateTrail ( ) [protected]

Record the current pose in our trail. Delete the trail head if it is full.

void Stg::Model::VelocityDisable ( )

Disable update of model pose according to velocity state

void Stg::Model::VelocityEnable ( )

Enable update of model pose according to velocity state

Friends And Related Function Documentation

friend class Ancestor [friend]

Definition at line 1581 of file stage.hh.

friend class Block [friend]

Definition at line 1586 of file stage.hh.

friend class BlockGroup [friend]

Definition at line 1588 of file stage.hh.

friend class Canvas [friend]

Reimplemented from Stg::Ancestor.

Reimplemented in Stg::ModelPosition.

Definition at line 1585 of file stage.hh.

friend class PowerPack [friend]

Definition at line 1589 of file stage.hh.

friend class Ray [friend]

Definition at line 1590 of file stage.hh.

friend class Region [friend]

Definition at line 1587 of file stage.hh.

friend class World [friend]

Definition at line 1582 of file stage.hh.

friend class World::Event [friend]

Definition at line 1583 of file stage.hh.

friend class WorldGui [friend]

Definition at line 1584 of file stage.hh.

Member Data Documentation

pthread_mutex_t Stg::Model::access_mutex [protected]

Used by Lock() and Unlock() to prevent parallel access to this model.

Reimplemented from Stg::Ancestor.

Definition at line 1600 of file stage.hh.

bool Stg::Model::alwayson [protected]

If true, the model always has at least one subscription, so always runs. Defaults to false.

Definition at line 1604 of file stage.hh.

BlockGroup Stg::Model::blockgroup [protected]

Definition at line 1606 of file stage.hh.

int Stg::Model::blocks_dl [protected]

OpenGL display list identifier for the blockgroup

Definition at line 1608 of file stage.hh.

int Stg::Model::boundary [protected]

Iff true, 4 thin blocks are automatically added to the model, forming a solid boundary around the bounding box of the model.

Definition at line 1613 of file stage.hh.

std::map<void*, std::set<stg_cb_t> > Stg::Model::callbacks [static, protected]

A list of callback functions can be attached to any address. When Model::CallCallbacks( void*) is called, the callbacks are called.

Definition at line 1660 of file stage.hh.

Color Stg::Model::color [protected]

Default color of the model's blocks.

Definition at line 1663 of file stage.hh.

uint32_t Stg::Model::count [static, private]

the number of models instatiated - used to assign unique IDs

Definition at line 1594 of file stage.hh.

std::list<Visualizer*> Stg::Model::cv_list [protected]

Definition at line 1671 of file stage.hh.

bool Stg::Model::data_fresh [protected]

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

Definition at line 1669 of file stage.hh.

stg_bool_t Stg::Model::disabled [protected]

if non-zero, the model is disabled

Definition at line 1670 of file stage.hh.

std::vector<Option*> Stg::Model::drawOptions [private]

Definition at line 1596 of file stage.hh.

unsigned int Stg::Model::event_queue_num [protected]

The index into the world's vector of event queues. Initially -1, to indicate that it is not on a list yet.

Definition at line 1824 of file stage.hh.

std::list<Flag*> Stg::Model::flag_list [protected]

Definition at line 1672 of file stage.hh.

double Stg::Model::friction [protected]

Definition at line 1664 of file stage.hh.

Geom Stg::Model::geom [protected]

Definition at line 1673 of file stage.hh.

class Stg::Model::GuiState Stg::Model::gui [protected]

Records model state and functionality in the GUI, if used

bool Stg::Model::has_default_block [protected]

Definition at line 1688 of file stage.hh.

class Stg::Model::CallbackHooks Stg::Model::hooks [protected]

uint32_t Stg::Model::id [protected]

unique process-wide identifier for this model

Definition at line 1722 of file stage.hh.

stg_usec_t Stg::Model::interval [protected]

time between updates in usec

Definition at line 1723 of file stage.hh.

stg_usec_t Stg::Model::interval_energy [protected]

time between updates of powerpack in usec

Definition at line 1724 of file stage.hh.

stg_usec_t Stg::Model::interval_pose [protected]

time between updates of pose due to velocity in usec

Definition at line 1725 of file stage.hh.

stg_usec_t Stg::Model::last_update [protected]

time of last update in us

Definition at line 1727 of file stage.hh.

bool Stg::Model::log_state [protected]

iff true, model state is logged

Definition at line 1728 of file stage.hh.

stg_meters_t Stg::Model::map_resolution [protected]

Definition at line 1729 of file stage.hh.

stg_kg_t Stg::Model::mass [protected]

Definition at line 1730 of file stage.hh.

std::map<stg_id_t,Model*> Stg::Model::modelsbyid [static, private]

Definition at line 1595 of file stage.hh.

std::map< std::string, creator_t> Stg::Model::name_map [static]

Definition at line 2314 of file stage.hh.

Model* Stg::Model::parent [protected]

Pointer to the parent of this model, possibly NULL.

Definition at line 1733 of file stage.hh.

Pose Stg::Model::pose [protected]

The pose of the model in it's parents coordinate frame, or the global coordinate frame is the parent is NULL.

Definition at line 1737 of file stage.hh.

PowerPack* Stg::Model::power_pack [protected]

Optional attached PowerPack, defaults to NULL

Definition at line 1740 of file stage.hh.

std::list<PowerPack*> Stg::Model::pps_charging [protected]

list of powerpacks that this model is currently charging, initially NULL.

Definition at line 1744 of file stage.hh.

std::map<std::string,const void*> Stg::Model::props [protected]

Props map 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.

Definition at line 1749 of file stage.hh.

Stg::Model::RasterVis Stg::Model::rastervis [protected]

Visualize the most recent rasterization operation performed by this model

bool Stg::Model::rebuild_displaylist [protected]

iff true, regenerate block display list before redraw

Definition at line 1779 of file stage.hh.

std::string Stg::Model::say_string [protected]

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

Definition at line 1780 of file stage.hh.

stg_bool_t Stg::Model::stall [protected]

Definition at line 1782 of file stage.hh.

int Stg::Model::subs [protected]