stage.hh File Reference

#include <assert.h>
#include <libgen.h>
#include <pthread.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <algorithm>
#include <cmath>
#include <iostream>
#include <list>
#include <map>
#include <queue>
#include <set>
#include <vector>
#include <FL/Fl.H>
#include <FL/Fl_Box.H>
#include <FL/Fl_Gl_Window.H>
#include <FL/Fl_Menu_Bar.H>
#include <FL/Fl_Window.H>
#include <FL/fl_draw.H>
#include <FL/gl.h>
#include <GL/glu.h>

Include dependency graph for stage.hh:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	Stg::Ancestor
struct	Stg::blinkenlight_t
class	Stg::ModelBlobfinder::Blob
class	Stg::Block
class	Stg::BlockGroup
class	Stg::Bounds
class	Stg::bounds3d_t
class	Stg::ModelBumper::BumperConfig
class	Stg::ModelBumper::BumperSample
class	Stg::ModelBumper::BumperVis
class	Stg::Camera
class	Stg::Model::cb_t
class	Stg::Color
struct	Stg::ModelCamera::ColoredVertex
struct	Stg::ModelGripper::config_t
class	Stg::CtrlArgs
class	Stg::PowerPack::DissipationVis
class	Stg::World::Event
class	Stg::ModelFiducial::Fiducial
class	Stg::Model::Flag
struct	Stg::fov_t
class	Stg::Geom
class	Stg::Model::GuiState
class	Stg::LogEntry
struct	Stg::World::ltx
struct	Stg::World::lty
class	Stg::Model
	Model class More...
class	Stg::ModelActuator
	ModelActuator class More...
class	Stg::ModelBlinkenlight
class	Stg::ModelBlobfinder
	ModelBlobfinder class More...
class	Stg::ModelBumper
	ModelBumper class More...
class	Stg::ModelCamera
	ModelCamera class More...
class	Stg::ModelFiducial
	ModelFiducial class More...
class	Stg::ModelGripper
class	Stg::ModelLightIndicator
class	Stg::ModelPosition
	ModelPosition class More...
class	Stg::ModelRanger
	ModelRanger class More...
class	Stg::OrthoCamera
class	Stg::PerspectiveCamera
class	Stg::point3_t
class	Stg::point_int_t
class	Stg::point_t
class	Stg::Pose
class	Stg::ModelPosition::PoseVis
class	Stg::PowerPack
class	Stg::Model::RasterVis
class	Stg::Ray
class	Stg::RaytraceResult
struct	Stg::rotrect_t
class	Stg::ModelRanger::Sensor
class	Stg::Size
class	Stg::StripPlotVis
class	Stg::Model::TrailItem
class	Stg::Velocity
class	Stg::ModelRanger::Vis
class	Stg::ModelBlobfinder::Vis
class	Stg::Model::Visibility
class	Stg::Visualizer
class	Stg::ModelPosition::Waypoint
class	Stg::ModelPosition::WaypointVis
class	Stg::World
	World class More...
class	Stg::WorldGui

Namespaces
	Stg
	The Stage library uses its own namespace.
	Stg::Gl

Macros
#define	FOR_EACH(I, C)   for (VAR(I, (C).begin()), ite = (C).end(); (I) != ite; ++(I))
#define	PRINT_DEBUG(m)
#define	PRINT_DEBUG1(m, a)
#define	PRINT_DEBUG2(m, a, b)
#define	PRINT_DEBUG3(m, a, b, c)
#define	PRINT_DEBUG4(m, a, b, c, d)
#define	PRINT_DEBUG5(m, a, b, c, d, e)
#define	PRINT_ERR(m)   fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", __FILE__, __FUNCTION__)
#define	PRINT_ERR1(m, a)   fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, __FILE__, __FUNCTION__)
#define	PRINT_ERR2(m, a, b)   fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, __FILE__, __FUNCTION__)
#define	PRINT_ERR3(m, a, b, c)   fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define	PRINT_ERR4(m, a, b, c, d)   fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define	PRINT_ERR5(m, a, b, c, d, e)   fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)
#define	PRINT_MSG(m)   printf("Stage: " m "\n")
#define	PRINT_MSG1(m, a)   printf("Stage: " m "\n", a)
#define	PRINT_MSG2(m, a, b)   printf("Stage: " m "\n,", a, b)
#define	PRINT_MSG3(m, a, b, c)   printf("Stage: " m "\n", a, b, c)
#define	PRINT_MSG4(m, a, b, c, d)   printf("Stage: " m "\n", a, b, c, d)
#define	PRINT_MSG5(m, a, b, c, d, e)   printf("Stage: " m "\n", a, b, c, d, e)
#define	PRINT_WARN(m)   printf("\033[44mwarn\033[0m: " m " (%s %s)\n", __FILE__, __FUNCTION__)
#define	PRINT_WARN1(m, a)   printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, __FILE__, __FUNCTION__)
#define	PRINT_WARN2(m, a, b)   printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, __FILE__, __FUNCTION__)
#define	PRINT_WARN3(m, a, b, c)   printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define	PRINT_WARN4(m, a, b, c, d)   printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define	PRINT_WARN5(m, a, b, c, d, e)   printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)
#define	VAR(V, init)   __typeof(init) V = (init)

Typedefs
typedef Model *(*	Stg::creator_t) (World *, Model *, const std::string &type)
typedef uint32_t	Stg::id_t
typedef double	Stg::joules_t
typedef double	Stg::kg_t
typedef double	Stg::meters_t
typedef int(*	Stg::model_callback_t) (Model *mod, void *user)
typedef unsigned long	Stg::msec_t
typedef double	Stg::radians_t
typedef bool(*	Stg::ray_test_func_t) (Model *candidate, const Model *finder, const void *arg)
typedef struct timeval	Stg::time_t
typedef uint64_t	Stg::usec_t
typedef double	Stg::watts_t
typedef int(*	Stg::world_callback_t) (World *world, void *user)

Enumerations
enum	{ Stg::FiducialNone = 0 }

Functions
double	Stg::constrain (double val, double minval, double maxval)
	return val, or minval if val < minval, or maxval if val > maxval More...
void	Stg::Gl::coord_shift (double x, double y, double z, double a)
void	Stg::Gl::draw_array (float x, float y, float w, float h, float *data, size_t len, size_t offset, float min, float max)
void	Stg::Gl::draw_array (float x, float y, float w, float h, float *data, size_t len, size_t offset)
void	Stg::Gl::draw_centered_rect (float x, float y, float dx, float dy)
void	Stg::Gl::draw_grid (bounds3d_t vol)
void	Stg::Gl::draw_octagon (float w, float h, float m)
void	Stg::Gl::draw_octagon (float x, float y, float w, float h, float m)
void	Stg::Gl::draw_origin (double len)
void	Stg::Gl::draw_speech_bubble (float x, float y, float z, const char *str)
void	Stg::Gl::draw_string (float x, float y, float z, const char *string)
void	Stg::Gl::draw_string_multiline (float x, float y, float w, float h, const char *string, Fl_Align align)
void	Stg::Gl::draw_vector (double x, double y, double z)
double	Stg::dtor (double d)
template<class T , class C >
void	Stg::EraseAll (T thing, C &cont)
unsigned int	Stg::FullVersion ()
void	Stg::Init (int *argc, char **argv[])
bool	Stg::InitDone ()
double	Stg::normalize (double a)
int	Stg::polys_from_image_file (const std::string &filename, std::vector< std::vector< point_t > > &polys)
	rotated rectangle More...
void	Stg::Gl::pose_inverse_shift (const Pose &pose)
void	Stg::Gl::pose_shift (const Pose &pose)
void	Stg::RegisterModels ()
double	Stg::rtod (double r)
int	Stg::sgn (int a)
double	Stg::sgn (double a)
point_t *	Stg::unit_square_points_create ()
const char *	Stg::Version ()

Variables
const char	Stg::AUTHORS []
const double	Stg::billion = 1e9
const char	Stg::COPYRIGHT [] = "Copyright Richard Vaughan and contributors 2000-2017"
const char	Stg::DESCRIPTION [] = "Robot simulation library\nPart of the Player Project"
const char	Stg::LICENSE []
const double	Stg::million = 1e6
const double	Stg::thousand = 1e3
const char	Stg::WEBSITE [] = "http://playerstage.org"

Detailed Description

Desc: External header file for the Stage library Author: Richard Vaughan (vaugh.nosp@m.an@s.nosp@m.fu.ca), Adrian Böckenkamp (boeck.nosp@m.enka.nosp@m.mp@ls.nosp@m.7.cs.nosp@m..tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e) Date: 1 June 2003, 17 February 2017 Git: 375c519

Definition in file stage.hh.

Macro Definition Documentation

FOR_EACH

#define FOR_EACH	(		I,
			C
	)		for (VAR(I, (C).begin()), ite = (C).end(); (I) != ite; ++(I))

Definition at line 580 of file stage.hh.

PRINT_DEBUG

#define PRINT_DEBUG

(

m

)

Definition at line 644 of file stage.hh.

PRINT_DEBUG1

#define PRINT_DEBUG1	(		m,
			a
	)

Definition at line 645 of file stage.hh.

PRINT_DEBUG2

#define PRINT_DEBUG2	(		m,
			a,
			b
	)

Definition at line 646 of file stage.hh.

PRINT_DEBUG3

#define PRINT_DEBUG3	(		m,
			a,
			b,
			c
	)

Definition at line 647 of file stage.hh.

PRINT_DEBUG4

#define PRINT_DEBUG4	(		m,
			a,
			b,
			c,
			d
	)

Definition at line 648 of file stage.hh.

PRINT_DEBUG5

#define PRINT_DEBUG5	(		m,
			a,
			b,
			c,
			d,
			e
	)

Definition at line 649 of file stage.hh.

PRINT_ERR

#define PRINT_ERR

(

m

)

fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", __FILE__, __FUNCTION__)

Definition at line 590 of file stage.hh.

PRINT_ERR1

#define PRINT_ERR1	(		m,
			a
	)		fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, __FILE__, __FUNCTION__)

Definition at line 591 of file stage.hh.

PRINT_ERR2

#define PRINT_ERR2	(		m,
			a,
			b
	)		fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, __FILE__, __FUNCTION__)

Definition at line 593 of file stage.hh.

PRINT_ERR3

#define PRINT_ERR3	(		m,
			a,
			b,
			c
	)		fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)

Definition at line 595 of file stage.hh.

PRINT_ERR4

#define PRINT_ERR4	(		m,
			a,
			b,
			c,
			d
	)		fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)

Definition at line 597 of file stage.hh.

PRINT_ERR5

#define PRINT_ERR5	(		m,
			a,
			b,
			c,
			d,
			e
	)		fprintf(stderr, "\033[41merr\033[0m: " m " (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)

Definition at line 599 of file stage.hh.

PRINT_MSG

#define PRINT_MSG

(

m

)

printf("Stage: " m "\n")

Definition at line 625 of file stage.hh.

PRINT_MSG1

#define PRINT_MSG1	(		m,
			a
	)		printf("Stage: " m "\n", a)

Definition at line 626 of file stage.hh.

PRINT_MSG2

#define PRINT_MSG2	(		m,
			a,
			b
	)		printf("Stage: " m "\n,", a, b)

Definition at line 627 of file stage.hh.

PRINT_MSG3

#define PRINT_MSG3	(		m,
			a,
			b,
			c
	)		printf("Stage: " m "\n", a, b, c)

Definition at line 628 of file stage.hh.

PRINT_MSG4

#define PRINT_MSG4	(		m,
			a,
			b,
			c,
			d
	)		printf("Stage: " m "\n", a, b, c, d)

Definition at line 629 of file stage.hh.

PRINT_MSG5

#define PRINT_MSG5	(		m,
			a,
			b,
			c,
			d,
			e
	)		printf("Stage: " m "\n", a, b, c, d, e)

Definition at line 630 of file stage.hh.

PRINT_WARN

#define PRINT_WARN

(

m

)

printf("\033[44mwarn\033[0m: " m " (%s %s)\n", __FILE__, __FUNCTION__)

Definition at line 603 of file stage.hh.

PRINT_WARN1

#define PRINT_WARN1	(		m,
			a
	)		printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, __FILE__, __FUNCTION__)

Definition at line 604 of file stage.hh.

PRINT_WARN2

#define PRINT_WARN2	(		m,
			a,
			b
	)		printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, __FILE__, __FUNCTION__)

Definition at line 605 of file stage.hh.

PRINT_WARN3

#define PRINT_WARN3	(		m,
			a,
			b,
			c
	)		printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)

Definition at line 607 of file stage.hh.

PRINT_WARN4

#define PRINT_WARN4	(		m,
			a,
			b,
			c,
			d
	)		printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)

Definition at line 609 of file stage.hh.

PRINT_WARN5

#define PRINT_WARN5	(		m,
			a,
			b,
			c,
			d,
			e
	)		printf("\033[44mwarn\033[0m: " m " (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)

Definition at line 611 of file stage.hh.

VAR

#define VAR	(		V,
			init
	)		__typeof(init) V = (init)

STL container iterator macros - __typeof is a gcc extension, so this could be an issue one day.

Definition at line 573 of file stage.hh.