Model class More...

#include <stage.hh>

Inheritance diagram for Stg::Model:

[legend]

Classes
class	cb_t

class	Flag

class	GuiState

class	RasterVis

class	TrailItem

class	Visibility

Public Types
enum	callback_type_t { CB_FLAGDECR, CB_FLAGINCR, CB_GEOM, CB_INIT, CB_LOAD, CB_PARENT, CB_POSE, CB_SAVE, CB_SHUTDOWN, CB_STARTUP, CB_UPDATE, CB_VELOCITY, __CB_TYPE_COUNT }

Public Member Functions
void	AddBlockRect (meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)

void	AddCallback (callback_type_t type, model_callback_t cb, void *user)

void	AddFlag (Flag *flag)

void	AddToPose (const Pose &pose)

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

void	AddVisualizer (Visualizer *custom_visual, bool on_by_default)

void	BecomeParentOf (Model *child)

int	CallCallbacks (callback_type_t type)

void	ClearBlocks ()

bool	DataIsFresh () const

void	Disable ()

void	Enable ()

PowerPack *	FindPowerPack () const

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

Color	GetColor () const

usec_t	GetEnergyInterval () const

int	GetFiducialReturn () const

unsigned int	GetFlagCount () const

Geom	GetGeom () const

Pose	GetGlobalPose () const

uint32_t	GetId () const

usec_t	GetInterval ()

kg_t	GetMassOfChildren () const

const std::string &	GetModelType () const

Pose	GetPose () const

std::string	GetSayString ()

unsigned int	GetSubscriptionCount () const

kg_t	GetTotalMass () const

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

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

usec_t	GetUpdateInterval () const

World *	GetWorld () const

Pose	GlobalToLocal (const Pose &pose) const

bool	HasCollision ()

bool	HasSubscribers () const

void	InitControllers ()

bool	IsAntecedent (const Model *testmod) const

bool	IsDescendent (const Model *testmod) const

bool	IsEnabled () const

bool	IsRelated (const Model *testmod) const

void	Load (Worldfile *wf, int wf_entity)

virtual void	Load ()

void	LoadBlock (Worldfile *wf, int entity)

void	LoadControllerModule (const char *lib)

Pose	LocalToGlobal (const Pose &pose) const

point_t	LocalToGlobal (const point_t &pt) const

std::vector< point_int_t >	LocalToPixels (const std::vector< point_t > &local) const

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

	Model ()

void	NeedRedraw ()

Model *	Parent () const

bool	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax, size_t max_iter=0)

virtual void	PopColor ()

Flag *	PopFlag ()

std::string	PoseString ()

virtual void	Print (char *prefix) const

virtual const char *	PrintWithPose () const

virtual void	PushColor (Color col)

virtual void	PushColor (double r, double g, double b, double a)

void	PushFlag (Flag *flag)

bool	RandomPoseInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax, size_t max_iter=0)

void	Rasterize (uint8_t *data, unsigned int width, unsigned int height, meters_t cellwidth, meters_t cellheight)

void	Redraw ()

int	RemoveCallback (callback_type_t type, model_callback_t callback)

void	RemoveFlag (Flag *flag)

void	RemoveVisualizer (Visualizer *custom_visual)

Model *	Root ()

virtual void	Save ()

void	Say (const std::string &str)

void	SetBlobReturn (bool val)

void	SetBoundary (bool 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	SetGravityReturn (bool val)

void	SetGripperReturn (bool val)

void	SetGuiGrid (bool val)

void	SetGuiMove (bool val)

void	SetGuiNose (bool val)

void	SetGuiOutline (bool val)

void	SetMapResolution (meters_t res)

void	SetMass (kg_t mass)

void	SetObstacleReturn (bool val)

int	SetParent (Model *newparent)

void	SetPose (const Pose &pose)

void	SetRangerReturn (double val)

void	SetRangerReturn (bool val)

void	SetStall (bool stall)

void	SetStickyReturn (bool val)

virtual void	SetToken (const std::string &str)

void	SetWatts (watts_t watts)

void	SetWorldfile (Worldfile *wf, int wf_entity)

bool	Stalled () const

void	Subscribe ()

void	Unsubscribe ()

virtual	~Model ()

Public Member Functions inherited from Stg::Ancestor
virtual void	AddChild (Model *mod)

	Ancestor ()

void	ForEachDescendant (model_callback_t func, void *arg)

std::vector< Model * > &	GetChildren ()

void *	GetProperty (std::string &key)

virtual void	RemoveChild (Model *mod)

void	SetProperty (std::string &key, void *value)

const char *	Token () const

const std::string &	TokenStr () const

virtual	~Ancestor ()

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 (std::set< Model *> &touchers)

void	CallUpdateCallbacks (void)

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	Map (unsigned int layer)

void	Map ()

void	MapFromRoot (unsigned int layer)
	Find the root model, and map/unmap the whole tree. More...

void	MapWithChildren (unsigned int layer)

meters_t	ModelHeight () const

void	PopCoords ()

void	PushLocalCoords ()

RaytraceResult	Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest)

void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void *arg, const bool ztest, std::vector< RaytraceResult > &results)

void	RegisterOption (Option *opt)

virtual void	Shutdown ()

virtual void	Startup ()

Model *	TestCollision ()

void	UnMap (unsigned int layer)

void	UnMap ()

void	UnMapFromRoot (unsigned int layer)

void	UnMapWithChildren (unsigned int layer)

virtual void	Update ()

virtual void	UpdateCharge ()

void	UpdateTrail ()

Protected Member Functions inherited from Stg::Ancestor
Ancestor &	Load (Worldfile *wf, int section)

void	Save (Worldfile *wf, int section)

Static Protected Member Functions
static int	UpdateWrapper (Model mod, void )

Protected Attributes
bool	alwayson

BlockGroup	blockgroup

int	boundary

std::vector< std::set< cb_t > >	callbacks

Color	color

std::list< Visualizer * >	cv_list

bool	data_fresh

bool	disabled

unsigned int	event_queue_num

std::list< Flag * >	flag_list

double	friction

Geom	geom

class Stg::Model::GuiState	gui

bool	has_default_block

uint32_t	id

usec_t	interval
	time between updates in usec More...

usec_t	interval_energy
	time between updates of powerpack in usec More...

usec_t	last_update
	time of last update in us More...

bool	log_state
	iff true, model state is logged More...

meters_t	map_resolution

kg_t	mass

Model *	parent

Pose	pose

PowerPack *	power_pack

std::list< PowerPack * >	pps_charging

Stg::Model::RasterVis	rastervis

bool	rebuild_displaylist
	iff true, regenerate block display list before redraw More...

std::string	say_string
	if non-empty, this string is displayed in the GUI More...

bool	stack_children
	whether child models should be stacked on top of this model or not More...

bool	stall
	Set to true iff the model collided with something else. More...

int	subs
	the number of subscriptions to this model More...

bool	thread_safe

std::vector< TrailItem >	trail

unsigned int	trail_index

uint64_t	trail_interval

const std::string	type

bool	used
	TRUE iff this model has been returned by GetUnusedModelOfType() More...

watts_t	watts
	power consumed by this model More...

watts_t	watts_give

watts_t	watts_take

Worldfile *	wf

int	wf_entity

World *	world
	Pointer to the world in which this model exists. More...

WorldGui *	world_gui
	Pointer to the GUI world - NULL if running in non-gui mode. More...

Protected Attributes inherited from Stg::Ancestor
std::map< std::string, unsigned int >	child_type_counts

std::vector< Model * >	children

bool	debug

std::map< std::string, void * >	props

std::string	token

Private Member Functions
const std::vector< Option * > &	getOptions () const

	Model (const Model &original)

Model &	operator= (const Model &original)

Private Attributes
std::vector< Option * >	drawOptions

bool	mapped

Static Private Attributes
static uint32_t	count

static std::map< id_t, Model * >	modelsbyid

Friends
class	Ancestor

class	Block

class	BlockGroup

class	Canvas

class	ModelFiducial

class	PowerPack

class	Ray

class	Region

class	World

class	World::Event

class	WorldGui

Detailed Description

Model class

Definition at line 1651 of file stage.hh.

Member Enumeration Documentation

◆ callback_type_t

enum Stg::Model::callback_type_t

Enumerator
CB_FLAGDECR
CB_FLAGINCR
CB_GEOM
CB_INIT
CB_LOAD
CB_PARENT
CB_POSE
CB_SAVE
CB_SHUTDOWN
CB_STARTUP
CB_UPDATE
CB_VELOCITY
__CB_TYPE_COUNT	must be the last entry: counts the number of types

Definition at line 1729 of file stage.hh.

Constructor & Destructor Documentation

◆ Model() [1/3]

Stg::Model::Model ( const Model & original )

explicitprivate

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

◆ Model() [2/3]

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

Constructor

Definition at line 230 of file model.cc.

◆ ~Model()

Model::~Model ( void )

virtual

Destructor

Definition at line 300 of file model.cc.

◆ Model() [3/3]

Stg::Model::Model ( )

inline

Alternate constructor that creates dummy models with only a pose

Definition at line 2100 of file stage.hh.

Member Function Documentation

◆ AddBlockRect()

void Model::AddBlockRect	(	meters_t	x,
		meters_t	y,
		meters_t	dx,
		meters_t	dy,
		meters_t	dz
	)

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

Definition at line 378 of file model.cc.

◆ AddCallback()

void Model::AddCallback	(	callback_type_t	type,
		model_callback_t	cb,
		void *	user
	)

attach callback functions to data members. The function gets called when the member is changed using SetX() accessor method Add a callback. The specified function is called whenever the indicated model method is called, and passed the user data.

Parameters

cb	Pointer the function to be called.
user	Pointer to arbitrary user data, passed to the callback when called.

Definition at line 5 of file model_callbacks.cc.

◆ AddFlag()

void Model::AddFlag ( Flag * flag )

Definition at line 323 of file model.cc.

◆ AddToPose() [1/2]

void Model::AddToPose ( const Pose & pose )

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

Definition at line 638 of file model.cc.

◆ AddToPose() [2/2]

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

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

Definition at line 627 of file model.cc.

◆ AddVisualizer()

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

Attach a user supplied visualization to a model.

Definition at line 242 of file model_draw.cc.

◆ AppendTouchingModels()

void Model::AppendTouchingModels ( std::set< Model *> & touchers )

protected

Definition at line 656 of file model.cc.

◆ BecomeParentOf()

void Model::BecomeParentOf ( Model * child )

Definition at line 819 of file model.cc.

◆ CallCallbacks()

int Model::CallCallbacks ( callback_type_t type )

Definition at line 32 of file model_callbacks.cc.

◆ CallUpdateCallbacks()

void Model::CallUpdateCallbacks ( void )

protected

Calls CallCallback( CB_UPDATE )

Definition at line 612 of file model.cc.

◆ ClearBlocks()

void Model::ClearBlocks ( )

remove all blocks from this model, freeing their memory

Definition at line 360 of file model.cc.

◆ DataIsFresh()

bool Stg::Model::DataIsFresh ( ) const

inline

Definition at line 2271 of file stage.hh.

◆ DataVisualize()

void Model::DataVisualize ( Camera * cam )

protectedvirtual

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

Definition at line 524 of file model_draw.cc.

◆ DataVisualizeTree()

void Model::DataVisualizeTree ( Camera * cam )

protected

Definition at line 529 of file model_draw.cc.

◆ Disable()

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 2156 of file stage.hh.

◆ DrawBlocks()

void Model::DrawBlocks ( )

protectedvirtual

Reimplemented in Stg::ModelLightIndicator.

Definition at line 171 of file model_draw.cc.

◆ DrawBlocksTree()

void Model::DrawBlocksTree ( )

protected

Definition at line 148 of file model_draw.cc.

◆ DrawBoundingBox()

void Model::DrawBoundingBox ( )

protected

Definition at line 187 of file model_draw.cc.

◆ DrawBoundingBoxTree()

void Model::DrawBoundingBoxTree ( )

protected

Definition at line 176 of file model_draw.cc.

◆ DrawFlagList()

void Model::DrawFlagList ( void )

protected

Definition at line 425 of file model_draw.cc.

◆ DrawGrid()

void Model::DrawGrid ( void )

protected

Definition at line 550 of file model_draw.cc.

◆ DrawImage()

void 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

Definition at line 381 of file model_draw.cc.

◆ DrawOrigin()

void Stg::Model::DrawOrigin ( )

protected

◆ DrawOriginTree()

void Model::DrawOriginTree ( )

protected

Definition at line 140 of file model_draw.cc.

◆ DrawPicker()

void Model::DrawPicker ( void )

protectedvirtual

Definition at line 509 of file model_draw.cc.

◆ DrawPose()

void Model::DrawPose ( Pose pose )

protected

Definition at line 159 of file model_draw.cc.

◆ DrawSelected()

void Model::DrawSelected ( void )

protectedvirtual

Definition at line 12 of file model_draw.cc.

◆ DrawStatus()

void Model::DrawStatus ( Camera * cam )

protectedvirtual

Definition at line 282 of file model_draw.cc.

◆ DrawStatusTree()

void Model::DrawStatusTree ( Camera * cam )

protected

Definition at line 273 of file model_draw.cc.

◆ DrawTrailArrows()

void Model::DrawTrailArrows ( )

protected

Definition at line 106 of file model_draw.cc.

◆ DrawTrailBlocks()

void Model::DrawTrailBlocks ( )

protected

Definition at line 86 of file model_draw.cc.

◆ DrawTrailFootprint()

void Model::DrawTrailFootprint ( )

protected

Definition at line 49 of file model_draw.cc.

◆ Enable()

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 2159 of file stage.hh.

◆ FindPowerPack()

PowerPack * Model::FindPowerPack ( ) const

Definition at line 833 of file model.cc.

◆ GetChild()

Model * 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.

Definition at line 862 of file model.cc.

◆ GetColor()

Color Stg::Model::GetColor ( ) const

inline

Definition at line 2233 of file stage.hh.

◆ GetEnergyInterval()

usec_t Stg::Model::GetEnergyInterval ( ) const

inline

Definition at line 1940 of file stage.hh.

◆ GetFiducialReturn()

int Stg::Model::GetFiducialReturn ( ) const

inline

Get a model's fiducial return value.

Definition at line 2228 of file stage.hh.

◆ GetFlagCount()

unsigned int Stg::Model::GetFlagCount ( ) const

inline

Definition at line 2151 of file stage.hh.

◆ GetGeom()

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 2247 of file stage.hh.

◆ GetGlobalPose()

Pose Model::GetGlobalPose ( ) const

virtual

get the pose of a model in the global CS

Reimplemented from Stg::Ancestor.

Definition at line 1200 of file model.cc.

◆ GetId()

uint32_t Stg::Model::GetId ( ) const

inline

return a model's unique process-wide identifier

Definition at line 2235 of file stage.hh.

◆ GetInterval()

usec_t Stg::Model::GetInterval ( )

inline

return the update interval in usec

Definition at line 1923 of file stage.hh.

◆ GetMassOfChildren()

kg_t Model::GetMassOfChildren ( ) const

Get the mass of this model's children recursively.

Definition at line 803 of file model.cc.

◆ GetModelType()

const std::string& Stg::Model::GetModelType ( ) const

inline

Definition at line 1916 of file stage.hh.

◆ getOptions()

const std::vector<Option *>& Stg::Model::getOptions ( ) const

inlineprivate

Definition at line 1673 of file stage.hh.

◆ GetPose()

Pose Stg::Model::GetPose ( ) const

inline

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

Definition at line 2250 of file stage.hh.

◆ GetSayString()

std::string Stg::Model::GetSayString ( )

inline

Definition at line 1917 of file stage.hh.

◆ GetSubscriptionCount()

unsigned int Stg::Model::GetSubscriptionCount ( ) const

inline

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

Definition at line 2317 of file stage.hh.

◆ GetTotalMass()

kg_t Model::GetTotalMass ( ) const

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

Definition at line 793 of file model.cc.

◆ GetUnsubscribedModelOfType()

Model * 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

Definition at line 739 of file model.cc.

◆ GetUnusedModelOfType()

Model * 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.

Definition at line 770 of file model.cc.

◆ GetUpdateInterval()

usec_t Stg::Model::GetUpdateInterval ( ) const

inline

Definition at line 1939 of file stage.hh.

◆ GetWorld()

World* Stg::Model::GetWorld ( ) const

inline

Returns a pointer to the world that contains this model

Definition at line 2188 of file stage.hh.

◆ GlobalToLocal()

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

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

Definition at line 398 of file model.cc.

◆ HasCollision()

bool Stg::Model::HasCollision ( )

inline

Check to see if the current pose causes a collision with obstacles. Returns true if a collision is detected but does not update the stall state, and false otherwise.

Definition at line 1951 of file stage.hh.

◆ HasSubscribers()

bool Stg::Model::HasSubscribers ( ) const

inline

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

Definition at line 2319 of file stage.hh.

◆ InitControllers()

void Model::InitControllers ( )

Call Init() for all attached controllers.

Definition at line 318 of file model.cc.

◆ IsAntecedent()

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

Definition at line 416 of file model.cc.

◆ IsDescendent()

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

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

Definition at line 428 of file model.cc.

◆ IsEnabled()

bool Stg::Model::IsEnabled ( ) const

inline

Test if the model is enabled. See also Disable() and Enable().

Definition at line 2161 of file stage.hh.

◆ IsRelated()

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

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

Definition at line 441 of file model.cc.

◆ Load() [1/2]

void Stg::Model::Load	(	Worldfile *	wf,
		int	wf_entity
	)

inline

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

Definition at line 2121 of file stage.hh.

◆ Load() [2/2]

void Model::Load ( void )

virtual

configure a model by reading from the current world file

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

Definition at line 1242 of file model.cc.

◆ LoadBlock()

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

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

Definition at line 368 of file model.cc.

◆ LoadControllerModule()

void Model::LoadControllerModule ( const char * lib )

Load a control program for this model from an external library

Definition at line 1469 of file model.cc.

◆ LocalToGlobal() [1/2]

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 2296 of file stage.hh.

◆ LocalToGlobal() [2/2]

point_t Model::LocalToGlobal ( const point_t & pt ) const

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

Definition at line 463 of file model.cc.

◆ LocalToPixels()

std::vector< point_int_t > Model::LocalToPixels ( const std::vector< point_t > & local ) const

Return a vector of global pixels corresponding to a vector of local points.

Definition at line 469 of file model.cc.

◆ LookupId()

static Model* Stg::Model::LookupId ( uint32_t id )

inlinestatic

Look up a model pointer by a unique model ID

Definition at line 2091 of file stage.hh.

◆ Map() [1/2]

void Model::Map ( unsigned int layer )

protected

Definition at line 809 of file model.cc.

◆ Map() [2/2]

void Stg::Model::Map ( )

inlineprotected

Call Map on all layers

Definition at line 1976 of file stage.hh.

◆ MapFromRoot()

void Model::MapFromRoot ( unsigned int layer )

protected

Find the root model, and map/unmap the whole tree.

Definition at line 497 of file model.cc.

◆ MapWithChildren()

void Model::MapWithChildren ( unsigned int layer )

protected

Definition at line 488 of file model.cc.

◆ ModelHeight()

meters_t Model::ModelHeight ( ) const

protected

Definition at line 617 of file model.cc.

◆ NeedRedraw()

void Model::NeedRedraw ( void )

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

Definition at line 755 of file model.cc.

◆ operator=()

Model& Stg::Model::operator= ( const Model & original )

private

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

◆ Parent()

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 2186 of file stage.hh.

◆ PlaceInFreeSpace()

bool Stg::Model::PlaceInFreeSpace	(	meters_t	xmin,
		meters_t	xmax,
		meters_t	ymin,
		meters_t	ymax,
		size_t	max_iter = `0`
	)

Ensures that the model is placed in free space (w/o collisions). The pose is not altered if the model is already in free space. Since this is implemented in a set-and-test manner, you can provide a maximum number of tries to prevent running indefinitely.

Parameters

xmin	minimum x position for the model
xmax	maximum x position for the model
ymin	minimum y position for the model
ymax	maximum x position for the model
max_iter	maximum number of iterations, 0 to possibly run/try indefinitely

Returns: true on success, false otherwise (no pose found within max_iter)

◆ PopColor()

virtual void Stg::Model::PopColor ( )

inlinevirtual

Definition at line 2061 of file stage.hh.

◆ PopCoords()

void Model::PopCoords ( )

protected

Definition at line 237 of file model_draw.cc.

◆ PopFlag()

Model::Flag * Model::PopFlag ( )

Definition at line 347 of file model.cc.

◆ PoseString()

std::string Stg::Model::PoseString ( )

inline

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

Definition at line 2089 of file stage.hh.

◆ Print()

void Model::Print ( char * prefix ) const

virtual

Reimplemented in Stg::ModelRanger, and Stg::ModelBumper.

Definition at line 542 of file model.cc.

◆ PrintWithPose()

const char * Model::PrintWithPose ( ) const

virtual

Definition at line 555 of file model.cc.

◆ PushColor() [1/2]

virtual void Stg::Model::PushColor ( Color col )

inlinevirtual

Definition at line 2059 of file stage.hh.

◆ PushColor() [2/2]

virtual void Stg::Model::PushColor	(	double	r,
		double	g,
		double	b,
		double	a
	)

inlinevirtual

Definition at line 2060 of file stage.hh.

◆ PushFlag()

void Model::PushFlag ( Flag * flag )

Definition at line 339 of file model.cc.

◆ PushLocalCoords()

void Model::PushLocalCoords ( )

protected

Definition at line 227 of file model_draw.cc.

◆ RandomPoseInFreeSpace()

bool Model::RandomPoseInFreeSpace	(	meters_t	xmin,
		meters_t	xmax,
		meters_t	ymin,
		meters_t	ymax,
		size_t	max_iter = `0`
	)

Behaves much like PlaceInFreeSpace() but always changes the pose to a random one. Ensures that the model is placed in free space (w/o collisions). The pose is not altered if the model is already in free space. Since this is implemented in a set-and-test manner, you can provide a maximum number of tries to prevent running indefinitely.

Parameters

xmin	minimum x position for the model
xmax	maximum x position for the model
ymin	minimum y position for the model
ymax	maximum x position for the model
max_iter	maximum number of iterations, 0 to possibly run/try indefinitely

Returns: true on success, false otherwise (no pose found within max_iter)

Definition at line 644 of file model.cc.

◆ Rasterize()

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

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

Definition at line 849 of file model.cc.

◆ Raytrace() [1/2]

RaytraceResult Stg::Model::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const ray_test_func_t	func,
		const void *	arg,
		const bool	ztest
	)

inlineprotected

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

Definition at line 2000 of file stage.hh.

◆ Raytrace() [2/2]

void Stg::Model::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const radians_t	fov,
		const ray_test_func_t	func,
		const void *	arg,
		const bool	ztest,
		std::vector< RaytraceResult > &	results
	)

inlineprotected

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

Definition at line 2008 of file stage.hh.

◆ Redraw()

void Model::Redraw ( void )

Force the GUI (if any) to redraw this model

Definition at line 765 of file model.cc.

◆ RegisterOption()

void Model::RegisterOption ( Option * opt )

protected

Register an Option for pickup by the GUI.

Definition at line 844 of file model.cc.

◆ RemoveCallback()

int Model::RemoveCallback	(	callback_type_t	type,
		model_callback_t	callback
	)

Definition at line 17 of file model_callbacks.cc.

◆ RemoveFlag()

void Model::RemoveFlag ( Flag * flag )

Definition at line 331 of file model.cc.

◆ RemoveVisualizer()

void Model::RemoveVisualizer ( Visualizer * custom_visual )

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

Definition at line 264 of file model_draw.cc.

◆ Root()

Model* Stg::Model::Root ( )

inline

return the root model of the tree containing this model

Definition at line 2190 of file stage.hh.

◆ Save()

void Model::Save ( void )

virtual

save the state of the model to the current world file

Reimplemented in Stg::ModelGripper.

Definition at line 1435 of file model.cc.

◆ Say()

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

Definition at line 410 of file model.cc.

◆ SetBlobReturn()

void Model::SetBlobReturn ( bool val )

Definition at line 1124 of file model.cc.

◆ SetBoundary()

void Model::SetBoundary ( bool val )

Definition at line 1134 of file model.cc.

◆ SetColor()

void Model::SetColor ( Color col )

Definition at line 1081 of file model.cc.

◆ SetFiducialKey()

void Model::SetFiducialKey ( int key )

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

Definition at line 1114 of file model.cc.

◆ SetFiducialReturn()

void Model::SetFiducialReturn ( int fid )

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

Definition at line 1102 of file model.cc.

◆ SetFriction()

void Model::SetFriction ( double friction )

Definition at line 857 of file model.cc.

◆ SetGeom()

void Model::SetGeom ( const Geom & src )

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

Definition at line 1061 of file model.cc.

◆ SetGlobalPose()

void Model::SetGlobalPose ( const Pose & gpose )

set the pose of model in global coordinates

Definition at line 1170 of file model.cc.

◆ SetGravityReturn()

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

◆ SetGripperReturn()

void Model::SetGripperReturn ( bool val )

Definition at line 1097 of file model.cc.

◆ SetGuiGrid()

void Model::SetGuiGrid ( bool val )

Definition at line 1149 of file model.cc.

◆ SetGuiMove()

void Model::SetGuiMove ( bool val )

Definition at line 1144 of file model.cc.

◆ SetGuiNose()

void Model::SetGuiNose ( bool val )

Definition at line 1139 of file model.cc.

◆ SetGuiOutline()

void Model::SetGuiOutline ( bool val )

Definition at line 1154 of file model.cc.

◆ SetMapResolution()

void Model::SetMapResolution ( meters_t res )

Definition at line 1164 of file model.cc.

◆ SetMass()

void Model::SetMass ( kg_t mass )

Definition at line 1087 of file model.cc.

◆ SetObstacleReturn()

void Model::SetObstacleReturn ( bool val )

Definition at line 1119 of file model.cc.

◆ SetParent()

int Model::SetParent ( Model * newparent )

Change a model's parent - experimental

Definition at line 1175 of file model.cc.

◆ SetPose()

void Model::SetPose ( const Pose & pose )

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

Definition at line 1216 of file model.cc.

◆ SetRangerReturn() [1/2]

void Model::SetRangerReturn ( double val )

Definition at line 1129 of file model.cc.

◆ SetRangerReturn() [2/2]

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

◆ SetStall()

void Model::SetStall ( bool stall )

Definition at line 1092 of file model.cc.

◆ SetStickyReturn()

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

◆ SetToken()

virtual void Stg::Model::SetToken ( const std::string & str )

inlinevirtual

Reimplemented from Stg::Ancestor.

Definition at line 1905 of file stage.hh.

◆ SetWatts()

void Model::SetWatts ( watts_t watts )

Definition at line 1159 of file model.cc.

◆ SetWorldfile()

void Stg::Model::SetWorldfile	(	Worldfile *	wf,
		int	wf_entity
	)

inline

Set the worldfile and worldfile entity ID

Definition at line 2130 of file stage.hh.

◆ Shutdown()

void Model::Shutdown ( void )

protectedvirtual

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

Definition at line 582 of file model.cc.

◆ Stalled()

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 2314 of file stage.hh.

◆ Startup()

void Model::Startup ( void )

protectedvirtual

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

Definition at line 566 of file model.cc.

◆ Subscribe()

void Model::Subscribe ( void )

subscribe to a model's data

Definition at line 516 of file model.cc.

◆ TestCollision()

Model * 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. Recursively calls TestCollision() on all descendents.

Definition at line 661 of file model.cc.

◆ UnMap() [1/2]

void Model::UnMap ( unsigned int layer )

protected

Definition at line 814 of file model.cc.

◆ UnMap() [2/2]

void Stg::Model::UnMap ( )

inlineprotected

Call UnMap on all layers

Definition at line 1985 of file stage.hh.

◆ UnMapFromRoot()

void Model::UnMapFromRoot ( unsigned int layer )

protected

Definition at line 511 of file model.cc.

◆ UnMapWithChildren()

void Model::UnMapWithChildren ( unsigned int layer )

protected

Definition at line 502 of file model.cc.

◆ Unsubscribe()

void Model::Unsubscribe ( void )

unsubscribe from a model's data

Definition at line 529 of file model.cc.

◆ Update()

void Model::Update ( void )

protectedvirtual

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

Definition at line 593 of file model.cc.

◆ UpdateCharge()

void Model::UpdateCharge ( )

protectedvirtual

Definition at line 676 of file model.cc.

◆ UpdateTrail()

void Model::UpdateTrail ( )

protected

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

Definition at line 725 of file model.cc.

◆ UpdateWrapper()

static int Stg::Model::UpdateWrapper	(	Model *	mod,
		void *
	)

inlinestaticprotected

Definition at line 2017 of file stage.hh.

Friends And Related Function Documentation

◆ Ancestor

friend class Ancestor

friend

Definition at line 1652 of file stage.hh.

◆ Block

friend class Block

friend

Definition at line 1657 of file stage.hh.

◆ BlockGroup

friend class BlockGroup

friend

Definition at line 1659 of file stage.hh.

◆ Canvas

friend class Canvas

friend

Definition at line 1656 of file stage.hh.

◆ ModelFiducial

friend class ModelFiducial

friend

Definition at line 1662 of file stage.hh.

◆ PowerPack

friend class PowerPack

friend

Definition at line 1660 of file stage.hh.

◆ Ray

friend class Ray

friend

Definition at line 1661 of file stage.hh.

◆ Region

friend class Region

friend

Definition at line 1658 of file stage.hh.

◆ World

friend class World

friend

Definition at line 1653 of file stage.hh.

◆ World::Event

friend class World::Event

friend

Definition at line 1654 of file stage.hh.

◆ WorldGui

friend class WorldGui

friend

Definition at line 1655 of file stage.hh.

Member Data Documentation

◆ alwayson

bool Stg::Model::alwayson

protected

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

Definition at line 1677 of file stage.hh.

◆ blockgroup

BlockGroup Stg::Model::blockgroup

protected

Definition at line 1679 of file stage.hh.

◆ boundary

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 1683 of file stage.hh.

◆ callbacks

std::vector<std::set<cb_t> > Stg::Model::callbacks

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 1750 of file stage.hh.

◆ color

Color Stg::Model::color

protected

Default color of the model's blocks.

Definition at line 1753 of file stage.hh.

◆ count

uint32_t Model::count

staticprivate

the number of models instatiated - used to assign unique sequential IDs

Definition at line 1666 of file stage.hh.

◆ cv_list

std::list<Visualizer *> Stg::Model::cv_list

protected

Container for Visualizers attached to this model.

Definition at line 1766 of file stage.hh.

◆ data_fresh

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 1758 of file stage.hh.

◆ disabled

bool Stg::Model::disabled

protected

If set true, Update() is not called on this model. Useful e.g. for temporarily disabling updates when dragging models with the mouse.

Definition at line 1763 of file stage.hh.

◆ drawOptions

std::vector<Option *> Stg::Model::drawOptions

private

Definition at line 1672 of file stage.hh.

◆ event_queue_num

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 1886 of file stage.hh.

◆ flag_list

std::list<Flag *> Stg::Model::flag_list

protected

Container for flags attached to this model.

Definition at line 1769 of file stage.hh.

◆ friction

double Stg::Model::friction

protected

Model the interaction between the model's blocks and the surface they touch.

Todo:: primitive at the moment

Definition at line 1773 of file stage.hh.

◆ geom

Geom Stg::Model::geom

protected

Specifies the the size of this model's bounding box, and the offset of its local coordinate system wrt that its parent.

Definition at line 1777 of file stage.hh.

◆ gui

class Stg::Model::GuiState Stg::Model::gui

protected

◆ has_default_block

bool Stg::Model::has_default_block

protected

Definition at line 1791 of file stage.hh.

◆ id

uint32_t Stg::Model::id

protected

unique process-wide identifier for this model

Definition at line 1794 of file stage.hh.

◆ interval

usec_t Stg::Model::interval

protected

time between updates in usec

Definition at line 1795 of file stage.hh.

◆ interval_energy

usec_t Stg::Model::interval_energy

protected

time between updates of powerpack in usec

Definition at line 1796 of file stage.hh.

◆ last_update

usec_t Stg::Model::last_update

protected

time of last update in us

Definition at line 1797 of file stage.hh.

◆ log_state

bool Stg::Model::log_state

protected

iff true, model state is logged

Definition at line 1798 of file stage.hh.

◆ map_resolution

meters_t Stg::Model::map_resolution

protected

Definition at line 1799 of file stage.hh.

◆ mapped

bool Stg::Model::mapped

private

records if this model has been mapped into the world bitmap

Definition at line 1670 of file stage.hh.

◆ mass

kg_t Stg::Model::mass

protected

Definition at line 1800 of file stage.hh.

◆ modelsbyid

std::map< Stg::id_t, Model * > Model::modelsbyid

staticprivate

Definition at line 1667 of file stage.hh.

◆ name_map

std::map< std::string, creator_t > Model::name_map

static

Definition at line 2320 of file stage.hh.

◆ parent

Model* Stg::Model::parent

protected

Pointer to the parent of this model, possibly NULL.

Definition at line 1803 of file stage.hh.

◆ pose

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 1807 of file stage.hh.

◆ power_pack

PowerPack* Stg::Model::power_pack

protected

Optional attached PowerPack, defaults to NULL

Definition at line 1810 of file stage.hh.

◆ pps_charging

std::list<PowerPack *> Stg::Model::pps_charging

protected

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

Definition at line 1814 of file stage.hh.

◆ rastervis

Stg::Model::RasterVis Stg::Model::rastervis

protected

◆ rebuild_displaylist

bool Stg::Model::rebuild_displaylist

protected

iff true, regenerate block display list before redraw

Definition at line 1840 of file stage.hh.

◆ say_string

std::string Stg::Model::say_string

protected

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

Definition at line 1841 of file stage.hh.

◆ stack_children

bool Stg::Model::stack_children

protected

whether child models should be stacked on top of this model or not

Definition at line 1843 of file stage.hh.

◆ stall

bool Stg::Model::stall

protected

Set to true iff the model collided with something else.

Definition at line 1845 of file stage.hh.

◆ subs

int Stg::Model::subs

protected

the number of subscriptions to this model

Definition at line 1846 of file stage.hh.

◆ thread_safe

bool Stg::Model::thread_safe

protected

Thread safety flag. Iff true, Update() may be called in parallel with other models. Defaults to false for safety. Derived classes can set it true in their constructor to allow parallel Updates().

Definition at line 1851 of file stage.hh.

◆ trail

std::vector<TrailItem> Stg::Model::trail

protected

a ring buffer for storing recent poses

Definition at line 1866 of file stage.hh.

◆ trail_index

unsigned int Stg::Model::trail_index

protected

current position in the ring buffer

Definition at line 1869 of file stage.hh.

◆ trail_interval

uint64_t Stg::Model::trail_interval

protected

The maxiumum length of the trail drawn. Default is 20, but can be set in the world file using the trail_length model property. Number of world updates between trail records.

Definition at line 1877 of file stage.hh.

◆ type

const std::string Stg::Model::type

protected

Definition at line 1883 of file stage.hh.

◆ used

bool Stg::Model::used

protected

TRUE iff this model has been returned by GetUnusedModelOfType()

Definition at line 1887 of file stage.hh.

◆ vis

class Stg::Model::Visibility Stg::Model::vis

◆ watts

watts_t Stg::Model::watts

protected

power consumed by this model

Definition at line 1889 of file stage.hh.

◆ watts_give

watts_t Stg::Model::watts_give

protected

If >0, this model can transfer energy to models that have watts_take >0

Definition at line 1893 of file stage.hh.

◆ watts_take

watts_t Stg::Model::watts_take

protected

If >0, this model can transfer energy from models that have watts_give >0

Definition at line 1897 of file stage.hh.

◆ wf

Worldfile* Stg::Model::wf

protected

Definition at line 1899 of file stage.hh.

◆ wf_entity

int Stg::Model::wf_entity

protected

Definition at line 1900 of file stage.hh.

◆ world

World* Stg::Model::world

protected

Pointer to the world in which this model exists.

Definition at line 1901 of file stage.hh.

◆ world_gui

WorldGui* Stg::Model::world_gui

protected

Pointer to the GUI world - NULL if running in non-gui mode.

Definition at line 1902 of file stage.hh.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ callback_type_t

Constructor & Destructor Documentation

◆ Model() [1/3]

◆ Model() [2/3]

◆ ~Model()

◆ Model() [3/3]

Member Function Documentation

◆ AddBlockRect()

◆ AddCallback()

◆ AddFlag()

◆ AddToPose() [1/2]

◆ AddToPose() [2/2]

◆ AddVisualizer()

◆ AppendTouchingModels()

◆ BecomeParentOf()

◆ CallCallbacks()

◆ CallUpdateCallbacks()

◆ ClearBlocks()

◆ DataIsFresh()

◆ DataVisualize()

◆ DataVisualizeTree()

◆ Disable()

◆ DrawBlocks()

◆ DrawBlocksTree()

◆ DrawBoundingBox()

◆ DrawBoundingBoxTree()

◆ DrawFlagList()

◆ DrawGrid()

◆ DrawImage()

◆ DrawOrigin()

◆ DrawOriginTree()

◆ DrawPicker()

◆ DrawPose()

◆ DrawSelected()

◆ DrawStatus()

◆ DrawStatusTree()

◆ DrawTrailArrows()

◆ DrawTrailBlocks()

◆ DrawTrailFootprint()

◆ Enable()

◆ FindPowerPack()

◆ GetChild()

◆ GetColor()

◆ GetEnergyInterval()

◆ GetFiducialReturn()

◆ GetFlagCount()

◆ GetGeom()

◆ GetGlobalPose()

◆ GetId()

◆ GetInterval()

◆ GetMassOfChildren()

◆ GetModelType()

◆ getOptions()

◆ GetPose()

◆ GetSayString()

◆ GetSubscriptionCount()

◆ GetTotalMass()

◆ GetUnsubscribedModelOfType()

◆ GetUnusedModelOfType()

◆ GetUpdateInterval()

◆ GetWorld()

◆ GlobalToLocal()

◆ HasCollision()

◆ HasSubscribers()

◆ InitControllers()