Model class More...

#include <stage.hh>

Inheritance diagram for Stg::Model:

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
Block *	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
Velocity	GetGlobalVelocity () 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	HasSubscribers () const
void	InitControllers ()
bool	IsAntecedent (const Model *testmod) const
bool	IsDescendent (const Model *testmod) 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
void	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, 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 (Color col)
virtual void	PushColor (double r, double g, double b, double a)
void	PushFlag (Flag *flag)
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	SetGlobalVelocity (const Velocity &gvel)
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 ()
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)
void	CommitTestedPose ()
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)
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=true)
void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)
RaytraceResult	Raytrace (const radians_t bearing, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void	Raytrace (const radians_t bearing, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)
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 ()
Static Protected Member Functions
static int	UpdateWrapper (Model mod, void arg)
Protected Attributes
bool	alwayson
BlockGroup	blockgroup
int	blocks_dl
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
usec_t	interval_energy
	time between updates of powerpack in usec
usec_t	last_update
	time of last update in us
bool	log_state
	iff true, model state is logged
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
std::string	say_string
	if non-empty, this string is displayed in the GUI
bool	stack_children
	whether child models should be stacked on top of this model or not
bool	stall
	Set to true iff the model collided with something else.
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()
watts_t	watts
	power consumed by this model
watts_t	watts_give
watts_t	watts_take
Worldfile *	wf
int	wf_entity
World *	world
WorldGui *	world_gui
Static Protected Attributes
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
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 1742 of file stage.hh.

Member Enumeration Documentation

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

Definition at line 1835 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.

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

Constructor

Definition at line 243 of file model.cc.

Model::~Model ( void ) [virtual]

Destructor

Definition at line 356 of file model.cc.

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

Alternate constructor that creates dummy models with only a pose

Definition at line 2219 of file stage.hh.

Member Function Documentation

Block * 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 442 of file model.cc.

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

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 6 of file model_callbacks.cc.

void Model::AddFlag ( Flag * flag )

Definition at line 381 of file model.cc.

void Model::AddToPose ( const Pose & pose )

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

Definition at line 782 of file model.cc.

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 771 of file model.cc.

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

Attach a user supplied visualization to a model.

Definition at line 322 of file model_draw.cc.

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

Definition at line 794 of file model.cc.

void Model::BecomeParentOf ( Model * child )

Definition at line 971 of file model.cc.

int Model::CallCallbacks ( callback_type_t type )

Definition at line 41 of file model_callbacks.cc.

void Model::CallUpdateCallbacks ( void ) [protected]

Calls CallCallback( CB_UPDATE )

Definition at line 756 of file model.cc.

void Model::ClearBlocks ( )

remove all blocks from this model, freeing their memory

Definition at line 421 of file model.cc.

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

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

Definition at line 2405 of file stage.hh.

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

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

Definition at line 627 of file model_draw.cc.

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

Definition at line 632 of file model_draw.cc.

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 2267 of file stage.hh.

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

Reimplemented in Stg::ModelLightIndicator.

Definition at line 251 of file model_draw.cc.

void Model::DrawBlocksTree ( ) [protected]

Definition at line 228 of file model_draw.cc.

void Model::DrawBoundingBox ( ) [protected]

Definition at line 267 of file model_draw.cc.

void Model::DrawBoundingBoxTree ( ) [protected]

Definition at line 256 of file model_draw.cc.

void Model::DrawFlagList ( void ) [protected]

Definition at line 522 of file model_draw.cc.

void Model::DrawGrid ( void ) [protected]

Definition at line 655 of file model_draw.cc.

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 469 of file model_draw.cc.

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

void Model::DrawOriginTree ( ) [protected]

Definition at line 219 of file model_draw.cc.

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

Definition at line 612 of file model_draw.cc.

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

Definition at line 239 of file model_draw.cc.

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

Definition at line 12 of file model_draw.cc.

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

Definition at line 366 of file model_draw.cc.

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

Definition at line 357 of file model_draw.cc.

void Model::DrawTrailArrows ( ) [protected]

Definition at line 184 of file model_draw.cc.

void Model::DrawTrailBlocks ( ) [protected]

Definition at line 163 of file model_draw.cc.

void Model::DrawTrailFootprint ( ) [protected]

Definition at line 126 of file model_draw.cc.

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 2271 of file stage.hh.

PowerPack * Model::FindPowerPack ( ) const

Definition at line 985 of file model.cc.

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 1018 of file model.cc.

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

Definition at line 2362 of file stage.hh.

usec_t Stg::Model::GetEnergyInterval ( ) const [inline]

Definition at line 2063 of file stage.hh.

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

Get a model's fiducial return value.

Definition at line 2356 of file stage.hh.

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

Definition at line 2261 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 2378 of file stage.hh.

Pose Model::GetGlobalPose ( ) const [virtual]

get the pose of a model in the global CS

Reimplemented from Stg::Ancestor.

Definition at line 1379 of file model.cc.

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 2365 of file stage.hh.

usec_t Stg::Model::GetInterval ( ) [inline]

return the update interval in usec

Definition at line 2044 of file stage.hh.

kg_t Model::GetMassOfChildren ( ) const

Get the mass of this model's children recursively.

Definition at line 947 of file model.cc.

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

Definition at line 2036 of file stage.hh.

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

Definition at line 1765 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 2382 of file stage.hh.

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

Definition at line 2037 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 2461 of file stage.hh.

kg_t Model::GetTotalMass ( ) const

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

Definition at line 937 of file model.cc.

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 882 of file model.cc.

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 914 of file model.cc.

usec_t Stg::Model::GetUpdateInterval ( ) const [inline]

Definition at line 2062 of file stage.hh.

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

Returns a pointer to the world that contains this model

Definition at line 2302 of file stage.hh.

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

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

Definition at line 525 of file model.cc.

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

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

Definition at line 2464 of file stage.hh.

void Model::InitControllers ( )

Call Init() for all attached controllers.

Definition at line 375 of file model.cc.

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

Definition at line 545 of file model.cc.

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

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

Definition at line 557 of file model.cc.

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

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

Definition at line 570 of file model.cc.

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 2234 of file stage.hh.

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::ModelRanger, Stg::ModelFiducial, Stg::ModelGripper, and Stg::ModelBlobfinder.

Definition at line 1422 of file model.cc.

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

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

Definition at line 430 of file model.cc.

void Model::LoadControllerModule ( const char * lib )

Load a control program for this model from an external library

Definition at line 1672 of file model.cc.

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 2435 of file stage.hh.

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 593 of file model.cc.

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 600 of file model.cc.

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

Look up a model pointer by a unique model ID

Definition at line 2206 of file stage.hh.

void Model::Map ( unsigned int layer ) [protected]

Definition at line 952 of file model.cc.

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

Call Map on all layers

Definition at line 2099 of file stage.hh.

void Model::MapFromRoot ( unsigned int layer ) [protected]

Definition at line 627 of file model.cc.

void Model::MapWithChildren ( unsigned int layer ) [protected]

Definition at line 617 of file model.cc.

meters_t Model::ModelHeight ( ) const [protected]

Definition at line 761 of file model.cc.

void Model::NeedRedraw ( void )

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

Definition at line 899 of file model.cc.

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 2299 of file stage.hh.

void Model::PlaceInFreeSpace	(	meters_t	xmin,
		meters_t	xmax,
		meters_t	ymin,
		meters_t	ymax
	)

Definition at line 787 of file model.cc.

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

Definition at line 2191 of file stage.hh.

void Model::PopCoords ( ) [protected]

Definition at line 317 of file model_draw.cc.

Model::Flag * Model::PopFlag ( )

Definition at line 408 of file model.cc.

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

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

Definition at line 2202 of file stage.hh.

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

Reimplemented in Stg::ModelRanger.

Definition at line 680 of file model.cc.

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

Definition at line 695 of file model.cc.

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

Definition at line 2189 of file stage.hh.

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

Definition at line 2190 of file stage.hh.

void Model::PushFlag ( Flag * flag )

Definition at line 399 of file model.cc.

void Model::PushLocalCoords ( ) [protected]

Definition at line 307 of file model_draw.cc.

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 1002 of file model.cc.

RaytraceResult Model::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const 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

Definition at line 475 of file model.cc.

void Stg::Model::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const radians_t	fov,
		const ray_test_func_t	func,
		const void *	arg,
		RaytraceResult *	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

RaytraceResult Model::Raytrace	(	const radians_t	bearing,
		const meters_t	range,
		const ray_test_func_t	func,
		const void *	arg,
		const bool	ztest = `true`
	)		`[protected]`

Definition at line 489 of file model.cc.

void Model::Raytrace	(	const radians_t	bearing,
		const meters_t	range,
		const radians_t	fov,
		const ray_test_func_t	func,
		const void *	arg,
		RaytraceResult *	samples,
		const uint32_t	sample_count,
		const bool	ztest = `true`
	)		`[protected]`

Definition at line 504 of file model.cc.

void Model::Redraw ( void )

Force the GUI (if any) to redraw this model

Definition at line 909 of file model.cc.

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

Register an Option for pickup by the GUI.

Definition at line 996 of file model.cc.

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

Definition at line 22 of file model_callbacks.cc.

void Model::RemoveFlag ( Flag * flag )

Definition at line 390 of file model.cc.

void Model::RemoveVisualizer ( Visualizer * custom_visual )

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

Definition at line 348 of file model_draw.cc.

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

return the root model of the tree containing this model

Definition at line 2305 of file stage.hh.

void Model::Save ( void ) [virtual]

save the state of the model to the current world file

Reimplemented in Stg::ModelGripper.

Definition at line 1633 of file model.cc.

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

Definition at line 539 of file model.cc.

void Model::SetBlobReturn ( bool val )

Definition at line 1303 of file model.cc.

void Model::SetBoundary ( bool val )

Definition at line 1313 of file model.cc.

void Model::SetColor ( Color col )

Definition at line 1260 of file model.cc.

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 1293 of file model.cc.

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 1281 of file model.cc.

void Model::SetFriction ( double friction )

Definition at line 1013 of file model.cc.

void Model::SetGeom ( const Geom & src )

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

Definition at line 1243 of file model.cc.

void Model::SetGlobalPose ( const Pose & gpose )

set the pose of model in global coordinates

Definition at line 1349 of file model.cc.

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

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

void Model::SetGripperReturn ( bool val )

Definition at line 1276 of file model.cc.

void Model::SetGuiGrid ( bool val )

Definition at line 1328 of file model.cc.

void Model::SetGuiMove ( bool val )

Definition at line 1323 of file model.cc.

void Model::SetGuiNose ( bool val )

Definition at line 1318 of file model.cc.

void Model::SetGuiOutline ( bool val )

Definition at line 1333 of file model.cc.

void Model::SetMapResolution ( meters_t res )

Definition at line 1343 of file model.cc.

void Model::SetMass ( kg_t mass )

Definition at line 1266 of file model.cc.

void Model::SetObstacleReturn ( bool val )

Definition at line 1298 of file model.cc.

int Model::SetParent ( Model * newparent )

Change a model's parent - experimental

Definition at line 1354 of file model.cc.

void Model::SetPose ( const Pose & pose )

Enable update of model pose according to velocity state Disable update of model pose according to velocity state set a model's pose in its parent's coordinate system

Definition at line 1396 of file model.cc.

void Model::SetRangerReturn ( double val )

Definition at line 1308 of file model.cc.

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

void Model::SetStall ( bool stall )

Definition at line 1271 of file model.cc.

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

virtual void Stg::Model::SetToken ( const std::string & str ) [inline, virtual]

Reimplemented from Stg::Ancestor.

Definition at line 2022 of file stage.hh.

void Model::SetWatts ( watts_t watts )

Definition at line 1338 of file model.cc.

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

Set the worldfile and worldfile entity ID

Definition at line 2243 of file stage.hh.

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

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

Definition at line 723 of file model.cc.

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 2457 of file stage.hh.

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

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

Definition at line 707 of file model.cc.

void Model::Subscribe ( void )

subscribe to a model's data

Definition at line 646 of file model.cc.

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 800 of file model.cc.

void Model::UnMap ( unsigned int layer ) [protected]

Definition at line 962 of file model.cc.

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

Call UnMap on all layers

Definition at line 2104 of file stage.hh.

void Model::UnMapFromRoot ( unsigned int layer ) [protected]

Definition at line 641 of file model.cc.

void Model::UnMapWithChildren ( unsigned int layer ) [protected]

Definition at line 632 of file model.cc.

void Model::Unsubscribe ( void )

unsubscribe from a model's data

Definition at line 659 of file model.cc.

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

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

Definition at line 735 of file model.cc.

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

Definition at line 816 of file model.cc.

void Model::UpdateTrail ( ) [protected]

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

Definition at line 868 of file model.cc.

static int Stg::Model::UpdateWrapper	(	Model *	mod,
		void *	arg
	)		`[inline, static, protected]`

Definition at line 2152 of file stage.hh.

Friends And Related Function Documentation

friend class Ancestor [friend]

Definition at line 1744 of file stage.hh.

friend class Block [friend]

Definition at line 1749 of file stage.hh.

friend class BlockGroup [friend]

Definition at line 1751 of file stage.hh.

friend class Canvas [friend]

Reimplemented from Stg::Ancestor.

Reimplemented in Stg::ModelPosition.

Definition at line 1748 of file stage.hh.

friend class ModelFiducial [friend]

Definition at line 1754 of file stage.hh.

friend class PowerPack [friend]

Definition at line 1752 of file stage.hh.

friend class Ray [friend]

Definition at line 1753 of file stage.hh.

friend class Region [friend]

Definition at line 1750 of file stage.hh.

friend class World [friend]

Definition at line 1745 of file stage.hh.

friend class World::Event [friend]

Definition at line 1746 of file stage.hh.

friend class WorldGui [friend]

Definition at line 1747 of file stage.hh.

Member Data Documentation

bool Stg::Model::alwayson [protected]

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

Definition at line 1771 of file stage.hh.

BlockGroup Stg::Model::blockgroup [protected]

Definition at line 1773 of file stage.hh.

int Stg::Model::blocks_dl [protected]

OpenGL display list identifier for the blockgroup

Definition at line 1775 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 1780 of file stage.hh.

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 1856 of file stage.hh.

Color Stg::Model::color [protected]

Default color of the model's blocks.

Definition at line 1859 of file stage.hh.

uint32_t Model::count [static, private]

the number of models instatiated - used to assign unique IDs

Definition at line 1758 of file stage.hh.

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

Container for Visualizers attached to this model.

Definition at line 1872 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 1864 of file stage.hh.

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 1869 of file stage.hh.

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

Definition at line 1764 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 2002 of file stage.hh.

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

Container for flags attached to this model.

Definition at line 1875 of file stage.hh.

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 1879 of file stage.hh.

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 1883 of file stage.hh.

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

bool Stg::Model::has_default_block [protected]

Definition at line 1898 of file stage.hh.

uint32_t Stg::Model::id [protected]

unique process-wide identifier for this model

Definition at line 1901 of file stage.hh.

usec_t Stg::Model::interval [protected]

time between updates in usec

Definition at line 1902 of file stage.hh.

usec_t Stg::Model::interval_energy [protected]

time between updates of powerpack in usec

Definition at line 1903 of file stage.hh.

usec_t Stg::Model::last_update [protected]

time of last update in us

Definition at line 1906 of file stage.hh.

bool Stg::Model::log_state [protected]

iff true, model state is logged

Definition at line 1907 of file stage.hh.

meters_t Stg::Model::map_resolution [protected]

Definition at line 1908 of file stage.hh.

bool Stg::Model::mapped [private]

records if this model has been mapped into the world bitmap

Definition at line 1762 of file stage.hh.

kg_t Stg::Model::mass [protected]

Definition at line 1909 of file stage.hh.

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

Definition at line 1759 of file stage.hh.

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

Definition at line 2466 of file stage.hh.

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

Pointer to the parent of this model, possibly NULL.

Definition at line 1912 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 1916 of file stage.hh.

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

Optional attached PowerPack, defaults to NULL

Definition at line 1919 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 1923 of file stage.hh.

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

bool Stg::Model::rebuild_displaylist [protected]

iff true, regenerate block display list before redraw

Definition at line 1953 of file stage.hh.

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

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

Definition at line 1954 of file stage.hh.

bool Stg::Model::stack_children [protected]

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

Definition at line 1956 of file stage.hh.

bool Stg::Model::stall [protected]

Set to true iff the model collided with something else.

Definition at line 1958 of file stage.hh.

int Stg::Model::subs [protected]

the number of subscriptions to this model

Definition at line 1959 of file stage.hh.

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 1964 of file stage.hh.

std::vector<TrailItem> Stg::Model::trail [protected]

a ring buffer for storing recent poses

Definition at line 1982 of file stage.hh.

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

current position in the ring buffer

Definition at line 1985 of file stage.hh.

uint64_t Model::trail_interval [static, protected]

Number of world updates between trail records.

Definition at line 1993 of file stage.hh.

uint32_t Model::trail_length [static, protected]

The maxiumum length of the trail drawn. Default is 20, but can be set in the world file using the tail_length model property.