stage.hh

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#ifndef STG_H
#define STG_H
/*
 *  Stage : a multi-robot simulator. Part of the Player Project.
 * 
 *  Copyright (C) 2001-2009 Richard Vaughan, Brian Gerkey, Andrew
 *  Howard, Toby Collett, Reed Hedges, Alex Couture-Beil, Jeremy
 *  Asher, Pooya Karimian
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

// C libs
#include <unistd.h>
#include <stdint.h> // for portable int types eg. uint32_t
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <libgen.h>
#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <pthread.h> 

// C++ libs
#include <cmath>
#include <iostream>
#include <vector>
#include <list>
#include <map>
#include <set>
#include <queue>
#include <algorithm>

// FLTK Gui includes
#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> // FLTK takes care of platform-specific GL stuff
// except GLU
#ifdef __APPLE__
#include <OpenGL/glu.h>
#else
#include <GL/glu.h>
#endif 

namespace Stg 
{
  // forward declare
  class Block;
  class Canvas;
  class Cell;
  class Worldfile;
  class World;
  class WorldGui;
  class Model;
  class OptionsDlg;
  class Camera;
  class FileManager;
  class Option;
  
  typedef Model* (*creator_t)( World*, Model*, const std::string& type );
  
  typedef std::set<Model*> ModelPtrSet;

  typedef std::vector<Model*> ModelPtrVec;

  typedef std::set<Block*> BlockPtrSet;

  typedef std::vector<Cell*> CellPtrVec;

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

  bool InitDone();
  
  const char* Version();

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

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

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

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

  const char LICENSE[] = 
    "Stage robot simulation library\n"                                  \
    "Copyright (C) 2000-2009 Richard Vaughan and contributors\n"        \
    "Part of the Player Project [http://playerstage.org]\n"             \
    "\n"                                                                \
    "This program is free software; you can redistribute it and/or\n"   \
    "modify it under the terms of the GNU General Public License\n"     \
    "as published by the Free Software Foundation; either version 2\n"  \
    "of the License, or (at your option) any later version.\n"          \
    "\n"                                                                \
    "This program is distributed in the hope that it will be useful,\n" \
    "but WITHOUT ANY WARRANTY; without even the implied warranty of\n"  \
    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\n"   \
    "GNU General Public License for more details.\n"                    \
    "\n"                                                                \
    "You should have received a copy of the GNU General Public License\n" \
    "along with this program; if not, write to the Free Software\n"     \
    "Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.\n" \
    "\n"                                                                \
    "The text of the license may also be available online at\n"         \
    "http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n";
  
  const double thousand = 1e3;

  const double million = 1e6;

  const double billion = 1e9;

  inline double rtod( double r ){ return( r*180.0/M_PI ); }
  
  inline double dtor( double d ){ return( d*M_PI/180.0 ); }
  
  inline double normalize( double a )
  {
         while( a < -M_PI ) a += 2.0*M_PI;
         while( a >  M_PI ) a -= 2.0*M_PI;       
         return a;
  };
        
  inline int sgn( int a){ return( a<0 ? -1 : 1); }
        
  inline double sgn( double a){ return( a<0 ? -1.0 : 1.0); }
  
  enum { FiducialNone = 0 };

  typedef uint32_t stg_id_t;

  typedef double stg_meters_t;

  typedef double stg_radians_t;

  typedef struct timeval stg_time_t;

  typedef unsigned long stg_msec_t;

  typedef uint64_t stg_usec_t;

  typedef double stg_kg_t; // Kilograms (mass)

  typedef double stg_joules_t;

  typedef double stg_watts_t;
  
  typedef bool stg_bool_t;
  
  class Color
  {
  public:
         float r,g,b,a;
        
         Color( float r, float g, float b, float a=1.0 );
        
         Color( const std::string& name );      
        
         Color();
        
         bool operator!=( const Color& other );
         bool operator==( const Color& other );
         static Color RandomColor();
         void Print( const char* prefix );
  };
  
  class Size
  {
  public:
    stg_meters_t x, y, z;
        
    Size( stg_meters_t x, 
                         stg_meters_t y, 
                         stg_meters_t z )
      : x(x), y(y), z(z)
    {/*empty*/}
        
    Size() : x( 0.4 ), y( 0.4 ), z( 1.0 )
    {/*empty*/} 
        
         void Load( Worldfile* wf, int section, const char* keyword );
         void Save( Worldfile* wf, int section, const char* keyword );
         
         void Zero()
         { x=y=z=0.0; }
  };
  
  class Pose
  {
  public:
    stg_meters_t x, y, z;
    stg_radians_t a;
    
    Pose( stg_meters_t x, 
                         stg_meters_t y, 
                         stg_meters_t z,
                         stg_radians_t a ) 
      : x(x), y(y), z(z), a(a)
    { /*empty*/ }
    
    Pose() : x(0.0), y(0.0), z(0.0), a(0.0)
    { /*empty*/ }                
    
    virtual ~Pose(){};
    
    static Pose Random( stg_meters_t xmin, stg_meters_t xmax, 
                                                                stg_meters_t ymin, stg_meters_t ymax )
    {            
      return Pose( xmin + drand48() * (xmax-xmin),
                                                 ymin + drand48() * (ymax-ymin),
                                                 0, 
                                                 normalize( drand48() * (2.0 * M_PI) ));
    }
    
    virtual void Print( const char* prefix )
    {
      printf( "%s pose [x:%.3f y:%.3f z:%.3f a:%.3f]\n",
                                  prefix, x,y,z,a );
    }
        
         std::string String()
         {
                char buf[256];
                snprintf( buf, 256, "[ %.3f %.3f %.3f %.3f ]",
                                         x,y,z,a );
                return std::string(buf);
         }
        
         /* returns true iff all components of the velocity are zero. */
         bool IsZero() const { return( !(x || y || z || a )); };
        
         void Zero(){ x=y=z=a=0.0; }
        
         void Load( Worldfile* wf, int section, const char* keyword );
         void Save( Worldfile* wf, int section, const char* keyword );
        
         inline Pose operator+( const Pose& p )
         {
                const double cosa = cos(a);
                const double sina = sin(a);
          
                return Pose( x + p.x * cosa - p.y * sina,
                                                 y + p.x * sina + p.y * cosa,
                                                 z + p.z,
                                                 normalize(a + p.a) );   
         }      
  };
  
  
  class Velocity : public Pose
  {
  public:
    Velocity( stg_meters_t x, 
                                  stg_meters_t y, 
                                  stg_meters_t z,
                                  stg_radians_t a ) :
                Pose( x, y, z, a )
    { /*empty*/ }
    
    Velocity()
    { /*empty*/ }                
    
    virtual void Print( const char* prefix )
    {
      printf( "%s velocity [x:%.3f y:%.3f z:%3.f a:%.3f]\n",
                                  prefix, x,y,z,a );
    }    
  };
  
  class Geom
  {
  public:
    Pose pose;
    Size size;
    
    void Print( const char* prefix )
    {
      printf( "%s geom pose: (%.2f,%.2f,%.2f) size: [%.2f,%.2f]\n",
                                  prefix,
                                  pose.x,
                                  pose.y,
                                  pose.a,
                                  size.x,
                                  size.y );
    }
         
         Geom() : pose(), size() {}

         Geom( const Pose& p, const Size& s ) : pose(p), size(s) {}
         
         void Zero()
         {
                pose.Zero();
                size.Zero();
         }
  };
  
  class Bounds
  {
  public:
    double min;
    double max; 
    
    Bounds() : min(0), max(0) { /* empty*/  }
    Bounds( double min, double max ) : min(min), max(max) { /* empty*/  }
  };
    
  class stg_bounds3d_t
  {
  public:
    Bounds x; 
    Bounds y; 
    Bounds z; 

         stg_bounds3d_t() : x(), y(), z() {}
         stg_bounds3d_t( const Bounds& x, const Bounds& y, const Bounds& z) 
                : x(x), y(y), z(z) {}
  };
  
  typedef struct
  {
    Bounds range; 
    stg_radians_t angle; 
  } stg_fov_t;
  
  class stg_point_t
  {
  public:
    stg_meters_t x, y;
         stg_point_t( stg_meters_t x, stg_meters_t y ) : x(x), y(y){}    
         stg_point_t() : x(0.0), y(0.0){}
        
         bool operator+=( const stg_point_t& other ) 
         { return ((x += other.x) && (y += other.y) ); }  
  };
  
  class stg_point3_t
  {
  public:
    stg_meters_t x,y,z;
         stg_point3_t( stg_meters_t x, stg_meters_t y, stg_meters_t z ) 
                : x(x), y(y), z(z) {}    
  
         stg_point3_t() : x(0.0), y(0.0), z(0.0) {}
  };
  
  class stg_point_int_t
  {
  public:
    int x,y;
                stg_point_int_t( int x, int y ) : x(x), y(y){}   
                stg_point_int_t() : x(0), y(0){}
                
                bool operator<( const stg_point_int_t& other ) const
                {
                        if( x < other.x ) return true;
                        if( other.x < x ) return false;
                        return y < other.y;
                }
 
         bool operator==( const stg_point_int_t& other ) const
                { return ((x == other.x) && (y == other.y) ); }
  };
  
  typedef std::vector<stg_point_int_t> PointIntVec;

  stg_point_t* stg_unit_square_points_create();
  
  typedef enum 
    {
      LaserTransparent=0, 
      LaserVisible, 
      LaserBright  
    } stg_laser_return_t;
  
  namespace Gl
  {
         void pose_shift( const Pose &pose );
         void pose_inverse_shift( const Pose &pose );
         void coord_shift( double x, double y, double z, double a  );
         void draw_grid( stg_bounds3d_t vol );
         void draw_string( float x, float y, float z, const char *string);
         void draw_string_multiline( float x, float y, float w, float h, 
                                                                                  const char *string, Fl_Align align );
         void draw_speech_bubble( float x, float y, float z, const char* str );
         void draw_octagon( float w, float h, float m );
         void draw_octagon( float x, float y, float w, float h, float m );
         void draw_vector( double x, double y, double z );
         void draw_origin( double len );
         void draw_array( float x, float y, float w, float h, 
                                                        float* data, size_t len, size_t offset, 
                                                        float min, float max );
         void draw_array( float x, float y, float w, float h, 
                                                        float* data, size_t len, size_t offset );
         void draw_centered_rect( float x, float y, float dx, float dy );
  } // namespace Gl
  
  void RegisterModels();
  
  
  class Visualizer {
  private:
         const std::string menu_name;
         const std::string worldfile_name;
         
  public:
         Visualizer( const std::string& menu_name, 
                                         const std::string& worldfile_name ) 
                : menu_name( menu_name ),
                  worldfile_name( worldfile_name )
         { }
         
         virtual ~Visualizer( void ) { }
         virtual void Visualize( Model* mod, Camera* cam ) = 0;
         
         const std::string& GetMenuName() { return menu_name; }
         const std::string& GetWorldfileName() { return worldfile_name; }
  };


  typedef int(*stg_model_callback_t)(Model* mod, void* user );
  typedef int(*stg_world_callback_t)(World* world, void* user );
  
  // return val, or minval if val < minval, or maxval if val > maxval
  double constrain( double val, double minval, double maxval );
    
  typedef struct 
  {
    int enabled;
    Pose pose;
    stg_meters_t size; 
    Color color;
    stg_msec_t period; 
    double duty_cycle; 
  } stg_blinkenlight_t;

  
  typedef struct
  {
    Pose pose;
    Size size;
  } stg_rotrect_t; // rotated rectangle

  int stg_rotrects_from_image_file( const char* filename, 
                                                                                                stg_rotrect_t** rects,
                                                                                                unsigned int* rect_count,
                                                                                                unsigned int* widthp, 
                                                                                                unsigned int* heightp );

  
  typedef bool (*stg_ray_test_func_t)(Model* candidate, 
                                                                                                  Model* finder, 
                                                                                                  const void* arg );

  // STL container iterator macros
#define VAR(V,init) __typeof(init) V=(init)
#define FOR_EACH(I,C) for(VAR(I,(C).begin());I!=(C).end();I++)

  template <class T, class C>
  void EraseAll( T thing, C& cont )
  { cont.erase( std::remove( cont.begin(), cont.end(), thing ), cont.end() ); }
  
  // Error macros - output goes to stderr
#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__)

  // Warning macros
#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__)

  // Message macros
#ifdef DEBUG
#define PRINT_MSG(m) printf( "Stage: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_MSG1(m,a) printf( "Stage: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)    
#define PRINT_MSG2(m,a,b) printf( "Stage: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__) 
#define PRINT_MSG3(m,a,b,c) printf( "Stage: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_MSG4(m,a,b,c,d) printf( "Stage: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_MSG5(m,a,b,c,d,e) printf( "Stage: "m" (%s %s)\n", a, b, c, d, e,__FILE__, __FUNCTION__)
#else
#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 )
#endif

  // DEBUG macros
#ifdef DEBUG
#define PRINT_DEBUG(m) printf( "debug: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_DEBUG1(m,a) printf( "debug: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)    
#define PRINT_DEBUG2(m,a,b) printf( "debug: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__) 
#define PRINT_DEBUG3(m,a,b,c) printf( "debug: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_DEBUG4(m,a,b,c,d) printf( "debug: "m" (%s %s)\n", a, b, c ,d, __FILE__, __FUNCTION__)
#define PRINT_DEBUG5(m,a,b,c,d,e) printf( "debug: "m" (%s %s)\n", a, b, c ,d, e, __FILE__, __FUNCTION__)
#else
#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)
#endif

  class Block;
  class Model;

  typedef int (*stg_model_callback_t)( Model* mod, void* user );
  
  // ANCESTOR CLASS
  class Ancestor
  {
    friend class Canvas; // allow Canvas access to our private members
         
  protected:
         ModelPtrVec children;
    bool debug;
         std::string token;
         pthread_mutex_t access_mutex; 

         void Load( Worldfile* wf, int section );
         void Save( Worldfile* wf, int section );
         
  public:       
         /* The maximum length of a Stage model identifier string */
         //static const uint32_t TOKEN_MAX = 64;
                 
         ModelPtrVec& GetChildren(){ return children;}
    
    void ForEachDescendant( stg_model_callback_t func, void* arg );
                
         std::map<std::string,unsigned int> child_type_counts;
         
    Ancestor();
    virtual ~Ancestor();
         
    virtual void AddChild( Model* mod );
    virtual void RemoveChild( Model* mod );
    virtual Pose GetGlobalPose();
         
    const char* Token()
    { return token.c_str(); }
         
    void SetToken( const std::string& str )
    { token = str; } 

         void Lock(){ pthread_mutex_lock( &access_mutex ); }    
         void Unlock(){ pthread_mutex_unlock( &access_mutex ); }
  };

  class RaytraceResult
  {
  public:
    Pose pose; 
    stg_meters_t range; 
    Model* mod; 
    Color color; 
         
         RaytraceResult() : pose(), range(0), mod(NULL), color() {}
         RaytraceResult( const Pose& pose, 
                                                  stg_meters_t range ) 
                : pose(pose), range(range), mod(NULL), color() {}        
  };

  typedef RaytraceResult stg_raytrace_result_t;
        
  class Ray
  {
  public:
         Ray( const Model* mod, const Pose& origin, const stg_meters_t range, const stg_ray_test_func_t func, const void* arg, const bool ztest ) :
                mod(mod), origin(origin), range(range), func(func), arg(arg), ztest(ztest)
         {}

         Ray() : mod(NULL), origin(0,0,0,0), range(0), func(NULL), arg(NULL), ztest(true)
         {}

         const Model* mod;
         Pose origin;
         stg_meters_t range;
         stg_ray_test_func_t func;
         const void* arg;
         bool ztest;            
  };
                

  // defined in stage_internal.hh
  class Region;
  class SuperRegion;
  class BlockGroup;
  class PowerPack;

  class LogEntry
  {
         stg_usec_t timestamp;
         Model* mod;
         Pose pose;
         
  public:
         LogEntry( stg_usec_t timestamp, Model* mod );
         
         static std::vector<LogEntry> log;
         
         static size_t Count(){ return log.size(); }
         
         static void Clear(){ log.clear(); }

         static void Print();
  };

  class CtrlArgs
  {
  public:
         std::string worldfile;
         std::string cmdline;

         CtrlArgs( std::string w, std::string c ) : worldfile(w), cmdline(c) {}
  };

  class World : public Ancestor
  {
    friend class Block;
    friend class Model; // allow access to private members
    friend class ModelFiducial;
    friend class Canvas;

  public: 
         static std::vector<std::string> args;
         static std::string ctrlargs;

  private:
        
    static std::set<World*> world_set; 
    static bool quit_all; 
    static void UpdateCb( World* world);
    static unsigned int next_id; 
         
    bool destroy;
    bool dirty; 

         std::set<Model*> models;

         std::map<std::string, Model*> models_by_name;          

         std::map<int,Model*> models_by_wfentity;
                
         ModelPtrVec models_with_fiducials;
         
         void FiducialInsert( Model* mod )
         { 
                FiducialErase( mod ); // make sure it's not there already
                models_with_fiducials.push_back( mod ); 
         }
         
         void FiducialErase( Model* mod )
         { 
                EraseAll( mod, models_with_fiducials );
         }

    double ppm; 
    bool quit; 
         
         bool show_clock; 
         unsigned int show_clock_interval; 

    pthread_mutex_t thread_mutex; 
         unsigned int threads_working; 
    pthread_cond_t threads_start_cond; 
    pthread_cond_t threads_done_cond; 
    int total_subs; 
         unsigned int worker_threads; 
         
  protected:     

         std::list<std::pair<stg_world_callback_t,void*> > cb_list; 
    stg_bounds3d_t extent; 
    bool graphics;

         std::set<Option*> option_table; 
         std::list<PowerPack*> powerpack_list; 

    stg_usec_t quit_time;
         std::list<float*> ray_list;
    stg_usec_t sim_time; 
         std::map<stg_point_int_t,SuperRegion*> superregions;
    SuperRegion* sr_cached; 
         
         std::vector<ModelPtrVec> update_lists;  
         
    uint64_t updates; 
    Worldfile* wf; 

         void CallUpdateCallbacks(); 

  public:
         
    bool paused; 

    virtual void Start(){ paused = false; };
    virtual void Stop(){ paused = true; };
    virtual void TogglePause(){ paused ? Start() : Stop(); };

         bool Paused(){ return( paused ); };
        
         PointIntVec rt_cells;
         PointIntVec rt_candidate_cells;

    static const int DEFAULT_PPM = 50;  // default resolution in pixels per meter

         void AddUpdateCallback( stg_world_callback_t cb, void* user );

         int RemoveUpdateCallback( stg_world_callback_t cb, void* user );
         void Log( Model* mod );

    void NeedRedraw(){ dirty = true; };
    
    Model* ground;
    
    virtual std::string ClockString( void ) const;
                
         Model* CreateModel( Model* parent, const std::string& typestr );        
    void LoadModel( Worldfile* wf, int entity );
    void LoadBlock( Worldfile* wf, int entity );
    void LoadBlockGroup( Worldfile* wf, int entity );
    
    virtual Model* RecentlySelectedModel(){ return NULL; }
                
    SuperRegion* AddSuperRegion( const stg_point_int_t& coord );
    SuperRegion* GetSuperRegion( const stg_point_int_t& coord );
    SuperRegion* GetSuperRegionCached( const stg_point_int_t& coord);
    SuperRegion* GetSuperRegionCached( int32_t x, int32_t y );
    void ExpireSuperRegion( SuperRegion* sr );
                
    void ForEachCellInLine( const stg_point_int_t& pt1,
                                                                                                                const stg_point_int_t& pt2, 
                                                                                                                CellPtrVec& cells );
                
    int32_t MetersToPixels( stg_meters_t x )
    { return (int32_t)floor(x * ppm); };
                
    stg_point_int_t MetersToPixels( const stg_point_t& pt )
    { return stg_point_int_t( MetersToPixels(pt.x), MetersToPixels(pt.y)); };
                
    // dummy implementations to be overloaded by GUI subclasses
    virtual void PushColor( Color col ) 
         { /* do nothing */  (void)col; };
    virtual void PushColor( double r, double g, double b, double a ) 
         { /* do nothing */ (void)r; (void)g; (void)b; (void)a; };
         
    virtual void PopColor(){ /* do nothing */  };
                
    SuperRegion* CreateSuperRegion( stg_point_int_t origin );
    void DestroySuperRegion( SuperRegion* sr );
                
         stg_raytrace_result_t Raytrace( const Ray& ray );

    stg_raytrace_result_t Raytrace( const Pose& pose,                    
                                                                                                const stg_meters_t range,
                                                                                                const stg_ray_test_func_t func,
                                                                                                const Model* finder,
                                                                                                const void* arg,
                                                                                                const bool ztest );
                
    void Raytrace( const Pose &pose,                     
                                                 const stg_meters_t range,
                                                 const stg_radians_t fov,
                                                 const stg_ray_test_func_t func,
                                                 const Model* finder,
                                                 const void* arg,
                                                 stg_raytrace_result_t* samples,
                                                 const uint32_t sample_count,
                                                 const bool ztest );
                
                
    void Extend( stg_point3_t pt );
  
    virtual void AddModel( Model* mod );
    virtual void RemoveModel( Model* mod );

    void AddModelName( Model* mod, const std::string& name );
                
    void AddPowerPack( PowerPack* pp );
    void RemovePowerPack( PowerPack* pp );
                
    void ClearRays();
  
    void RecordRay( double x1, double y1, double x2, double y2 );
                
    bool PastQuitTime();
                                
    static void* update_thread_entry( std::pair<World*,int>* info );
    
    class Event
    {
    public:
      
      Event( stg_usec_t time, Model* mod ) 
                  : time(time), mod(mod) {}
      
      stg_usec_t time; // time that event occurs
      Model* mod; // model to update
      
      bool operator<( const Event& other ) const;
    };
         
         std::vector<std::priority_queue<Event> > event_queues;
         void Enqueue( unsigned int queue_num, stg_usec_t delay, Model* mod );
         
         std::set<Model*> active_energy;
         std::set<Model*> active_velocity;

         stg_usec_t sim_interval;
         
         void ConsumeQueue( unsigned int queue_num );

         unsigned int GetEventQueue( Model* mod );

  public:
    static bool UpdateAll(); 
         
    World( const std::string& name = "MyWorld", 
                          double ppm = DEFAULT_PPM );
                
    virtual ~World();
         
    stg_usec_t SimTimeNow(void);
         
    Worldfile* GetWorldFile(){ return wf; };
         
    virtual bool IsGUI() const { return false; }
         
    virtual void Load( const char* worldfile_path );
    virtual void UnLoad();
    virtual void Reload();
    virtual bool Save( const char* filename );
    virtual bool Update(void);
         
    bool TestQuit(){ return( quit || quit_all );  }
    void Quit(){ quit = true; }
    void QuitAll(){ quit_all = true; }
    void CancelQuit(){ quit = false; }
    void CancelQuitAll(){ quit_all = false; }
         
         void TryCharge( PowerPack* pp, const Pose& pose );

    double Resolution(){ return ppm; };
   
    Model* GetModel( const std::string& name ) const;
  
    const stg_bounds3d_t& GetExtent(){ return extent; };
  
    uint64_t GetUpdateCount() { return updates; }

         void RegisterOption( Option* opt );    
         
         void ShowClock( bool enable ){ show_clock = enable; };

         Model* GetGround() {return ground;};
        
  };

  class Block
  {
    friend class BlockGroup;
    friend class Model;
    friend class SuperRegion;
    friend class World;
    friend class Canvas;
  public:
  
    Block( Model* mod,  
                          stg_point_t* pts, 
                          size_t pt_count,
                          stg_meters_t zmin,
                          stg_meters_t zmax,
                          Color color,
                          bool inherit_color );
  
    Block(  Model* mod,  Worldfile* wf, int entity);
         
    ~Block();
         
    void Map();          
         
    void UnMap();        
         
         void DrawSolid();

    void DrawFootPrint(); 

         void Translate( double x, double y );   

         double CenterX();

         double CenterY();

         void SetCenterX( double y );

         void SetCenterY( double y );

         void SetCenter( double x, double y);    

         void SetZ( double min, double max );

    stg_point_t* Points( unsigned int *count )
    { if( count ) *count = pt_count; return &pts[0]; };          
         
         std::vector<stg_point_t>& Points()
    { return pts; };             
             
    inline void RemoveFromCellArray( CellPtrVec* blocks );
    inline void GenerateCandidateCells();  

         void AppendTouchingModels( ModelPtrSet& touchers );
         
    Model* TestCollision(); 
    void SwitchToTestedCells();  
    void Load( Worldfile* wf, int entity );  
    Model* GetModel(){ return mod; };  
    const Color& GetColor();            
         void Rasterize( uint8_t* data, 
                                                  unsigned int width, unsigned int height,              
                                                  stg_meters_t cellwidth, stg_meters_t cellheight );
                
  private:
    Model* mod; 
         std::vector<stg_point_t> mpts; 
    size_t pt_count; 
         std::vector<stg_point_t> pts; 
    Size size;   
    Bounds local_z; 
    Color color;
    bool inherit_color;
         
         double glow;
         
    void DrawTop();
    void DrawSides();
         
    Bounds global_z;     
    bool mapped;
                
                std::vector< std::list<Block*>::iterator > list_entries;

         CellPtrVec * rendered_cells;

         CellPtrVec * candidate_cells;
        
         PointIntVec gpts;
        
         stg_point_t BlockPointToModelMeters( const stg_point_t& bpt );
        
         void InvalidateModelPointCache();
  };


  class BlockGroup
  {
    friend class Model;
         friend class Block;

  private:
    int displaylist;

    void BuildDisplayList( Model* mod );
         
         BlockPtrSet blocks;
    Size size;
    stg_point3_t offset;
    stg_meters_t minx, maxx, miny, maxy;

  public:
    BlockGroup();
    ~BlockGroup();
         
    uint32_t GetCount(){ return blocks.size(); };
    const Size& GetSize(){ return size; };
    const stg_point3_t& GetOffset(){ return offset; };
         
    void CalcSize();
         
    void AppendBlock( Block* block );
    void CallDisplayList( Model* mod );
    void Clear() ; 
         void AppendTouchingModels( ModelPtrSet& touchers );
         
    Model* TestCollision();
 
    void SwitchToTestedCells();
         
    void Map();
    void UnMap();
         
    void DrawSolid( const Geom &geom); 

         void DrawFootPrint( const Geom &geom);

    void LoadBitmap( Model* mod, const std::string& bitmapfile, Worldfile *wf );
    void LoadBlock( Model* mod, Worldfile* wf, int entity );
         
         void Rasterize( uint8_t* data, 
                                                  unsigned int width, unsigned int height,
                                                  stg_meters_t cellwidth, stg_meters_t cellheight );
         
         void InvalidateModelPointCache()
         {
                FOR_EACH( it, blocks )
                  (*it)->InvalidateModelPointCache();
         }

  };

  class Camera 
  {
  protected:
    float _pitch; //left-right (about y)
    float _yaw; //up-down (about x)
    float _x, _y, _z;
        
  public:
    Camera() : _pitch( 0 ), _yaw( 0 ), _x( 0 ), _y( 0 ), _z( 0 ) { }
    virtual ~Camera() { }

    virtual void Draw( void ) const = 0;
    virtual void SetProjection( void ) const = 0;

         float yaw( void ) const { return _yaw; }
         float pitch( void ) const { return _pitch; }
         
         float x( void ) const { return _x; }
         float y( void ) const { return _y; }
         float z( void ) const { return _z; }
         
    virtual void reset() = 0;
    virtual void Load( Worldfile* wf, int sec ) = 0;

    //TODO data should be passed in somehow else. (at least min/max stuff)
    //virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max ) const = 0;
  };

  class PerspectiveCamera : public Camera
  {
  private:
    float _z_near;
    float _z_far;
    float _vert_fov;
    float _horiz_fov;
    float _aspect;

  public:
    PerspectiveCamera( void );

    virtual void Draw( void ) const;
    virtual void SetProjection( void ) const;
    //void SetProjection( float aspect ) const;
    void update( void );

    void strafe( float amount );
    void forward( float amount );
        
         void setPose( float x, float y, float z ) { _x = x; _y = y; _z = z; }
         void addPose( float x, float y, float z ) { _x += x; _y += y; _z += z; if( _z < 0.1 ) _z = 0.1; }
    void move( float x, float y, float z );
         void setFov( float horiz_fov, float vert_fov ) { _horiz_fov = horiz_fov; _vert_fov = vert_fov; }
         void setAspect( float aspect ) { _aspect = aspect; }
         void setYaw( float yaw ) { _yaw = yaw; }
         float horizFov( void ) const { return _horiz_fov; }
         float vertFov( void ) const { return _vert_fov; }
         void addYaw( float yaw ) { _yaw += yaw; }
         void setPitch( float pitch ) { _pitch = pitch; }
         void addPitch( float pitch ) { _pitch += pitch; if( _pitch < 0 ) _pitch = 0; else if( _pitch > 180 ) _pitch = 180; }
        
         float realDistance( float z_buf_val ) const {
      return _z_near * _z_far / ( _z_far - z_buf_val * ( _z_far - _z_near ) );
    }
         void scroll( float dy ) { _z += dy; }
         float nearClip( void ) const { return _z_near; }
         float farClip( void ) const { return _z_far; }
         void setClip( float near, float far ) { _z_far = far; _z_near = near; }
        
         void reset() { setPitch( 70 ); setYaw( 0 ); }
        
    void Load( Worldfile* wf, int sec );
    void Save( Worldfile* wf, int sec );
  };
  
  class OrthoCamera : public Camera
  {
  private:
    float _scale;
    float _pixels_width;
    float _pixels_height;
    float _y_min;
    float _y_max;
  
  public:
    OrthoCamera( void ) : _scale( 15 ) { }
    virtual void Draw() const;
    virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max );
    virtual void SetProjection( void ) const;
  
    void move( float x, float y );
         void setYaw( float yaw ) { _yaw = yaw; }
         void setPitch( float pitch ) { _pitch = pitch; }
         void addYaw( float yaw ) { _yaw += yaw;        }
         void addPitch( float pitch ) {
      _pitch += pitch;
      if( _pitch > 90 )
                  _pitch = 90;
      else if( _pitch < 0 )
                  _pitch = 0;
    }
  
         void setScale( float scale ) { _scale = scale; }
         void setPose( float x, float y) { _x = x; _y = y; }
  
    void scale( float scale, float shift_x = 0, float h = 0, float shift_y = 0, float w = 0 );  
         void reset( void ) { _pitch = _yaw = 0; }
  
         float scale() const { return _scale; }
  
    void Load( Worldfile* wf, int sec );
    void Save( Worldfile* wf, int sec );
  };


  class WorldGui : public World, public Fl_Window 
  {
    friend class Canvas;
    friend class ModelCamera;
    friend class Model;
    friend class Option;

  private:

    Canvas* canvas;
    std::vector<Option*> drawOptions;
    FileManager* fileMan; 
         std::vector<stg_usec_t> interval_log;
         
         float speedup; 

    Fl_Menu_Bar* mbar;
    OptionsDlg* oDlg;
    bool pause_time;

    stg_usec_t real_time_interval;
         
    stg_usec_t real_time_now; 

    stg_usec_t real_time_recorded;
         
         uint64_t timing_interval;

    // static callback functions
    static void windowCb( Fl_Widget* w, WorldGui* wg ); 
    static void fileLoadCb( Fl_Widget* w, WorldGui* wg );
    static void fileSaveCb( Fl_Widget* w, WorldGui* wg );
    static void fileSaveAsCb( Fl_Widget* w, WorldGui* wg );
    static void fileExitCb( Fl_Widget* w, WorldGui* wg );
    static void viewOptionsCb( OptionsDlg* oDlg, WorldGui* wg );
    static void optionsDlgCb( OptionsDlg* oDlg, WorldGui* wg );
    static void helpAboutCb( Fl_Widget* w, WorldGui* wg );
    static void pauseCb( Fl_Widget* w, WorldGui* wg );
    static void onceCb( Fl_Widget* w, WorldGui* wg );
    static void fasterCb( Fl_Widget* w, WorldGui* wg );
    static void slowerCb( Fl_Widget* w, WorldGui* wg );
    static void realtimeCb( Fl_Widget* w, WorldGui* wg );
    static void fasttimeCb( Fl_Widget* w, WorldGui* wg );
    static void resetViewCb( Fl_Widget* w, WorldGui* wg );
    static void moreHelptCb( Fl_Widget* w, WorldGui* wg );
        
    // GUI functions
    bool saveAsDialog();
    bool closeWindowQuery();
        
    virtual void AddModel( Model* mod );
        
         void SetTimeouts();

  protected:
        
    virtual void PushColor( Color col );
    virtual void PushColor( double r, double g, double b, double a );
    virtual void PopColor();
        
    void DrawOccupancy();
    void DrawVoxels();
         
  public:
        
    WorldGui(int W,int H,const char*L=0);
    ~WorldGui();
        
    virtual std::string ClockString() const;
    virtual bool Update();      
    virtual void Load( const char* filename );
    virtual void UnLoad();
    virtual bool Save( const char* filename );  
    virtual bool IsGUI() const { return true; };        
    virtual Model* RecentlySelectedModel() const;

    virtual void Start();
    virtual void Stop();
        
    stg_usec_t RealTimeNow(void) const;
 
    void DrawBoundingBoxTree();
    
    Canvas* GetCanvas( void ) const { return canvas; } 

    void Show(); 

    std::string EnergyString( void );   
    virtual void RemoveChild( Model* mod );      
  };


  class StripPlotVis : public Visualizer
  {
  private:
         
         Model* mod;
         float* data;
         size_t len;
         size_t count;
         unsigned int index;
         float x,y,w,h,min,max;
         Color fgcolor, bgcolor;
         
  public:
         StripPlotVis( float x, float y, float w, float h, 
                                                size_t len, 
                                                Color fgcolor, Color bgcolor,
                                                const char* name, const char* wfname );
         virtual ~StripPlotVis();
         virtual void Visualize( Model* mod, Camera* cam );             
         void AppendValue( float value );
  };


  class PowerPack
  {
         friend class WorldGui;
         friend class Canvas;
         
  protected:
         
         class DissipationVis : public Visualizer
         {
         private:
                unsigned int columns, rows;
                stg_meters_t width, height;
                 
                 std::vector<stg_joules_t> cells;
                 
                 stg_joules_t peak_value;
                 double cellsize;
                 
                static stg_joules_t global_peak_value; 

         public:
                DissipationVis( stg_meters_t width, 
                                                         stg_meters_t height, 
                                                         stg_meters_t cellsize );

                virtual ~DissipationVis();
                virtual void Visualize( Model* mod, Camera* cam );              
                
                void Accumulate( stg_meters_t x, stg_meters_t y, stg_joules_t amount );
         } event_vis;
         

         StripPlotVis output_vis;
         StripPlotVis stored_vis;

         Model* mod;
    
         stg_joules_t stored;
         
         stg_joules_t capacity;
         
         bool charging;
         
         stg_joules_t dissipated;
         
         // these are used to visualize the power draw
         stg_usec_t last_time;
         stg_joules_t last_joules;
         stg_watts_t last_watts;

         static stg_joules_t global_stored;
         static stg_joules_t global_capacity;
         static stg_joules_t global_dissipated;  
         static stg_joules_t global_input;

  public:
         PowerPack( Model* mod );
         ~PowerPack();
         
         void Visualize( Camera* cam );

         void Print( char* prefix ) const;
         
         stg_joules_t RemainingCapacity() const;
         
         void Add( stg_joules_t j );
                
         void Subtract( stg_joules_t j );
                
         void TransferTo( PowerPack* dest, stg_joules_t amount );        

         double ProportionRemaining() const
         { return( stored / capacity ); }

         void Print( const char* prefix ) const
         { printf( "%s PowerPack %.2f/%.2f J\n", prefix, stored, capacity ); }          
         
         stg_joules_t GetStored() const;
         stg_joules_t GetCapacity() const;
         stg_joules_t GetDissipated() const;
         void SetCapacity( stg_joules_t j );
         void SetStored( stg_joules_t j );      

         bool GetCharging() const { return charging; }
         
         void ChargeStart(){ charging = true; }
         void ChargeStop(){ charging = false; }

         void Dissipate( stg_joules_t j );
         
         void Dissipate( stg_joules_t j, const Pose& p );
  };

   
  class Model : public Ancestor
  {
    friend class Ancestor;
    friend class World;
    friend class World::Event;
    friend class WorldGui;
    friend class Canvas;
    friend class Block;
    friend class Region;
    friend class BlockGroup;
    friend class PowerPack;
    friend class Ray;
        
  private:
         static uint32_t count;
         static std::map<stg_id_t,Model*> modelsbyid;
         std::vector<Option*> drawOptions;
         const std::vector<Option*>& getOptions() const { return drawOptions; }
         
  protected:
         pthread_mutex_t access_mutex;

         bool alwayson;

         BlockGroup blockgroup;
         int blocks_dl;

         int boundary;
                
  public:
         class stg_cb_t
         {
         public:
                stg_model_callback_t callback;
                void* arg;
                        
                stg_cb_t( stg_model_callback_t cb, void* arg ) 
                  : callback(cb), arg(arg) {}
                        
                stg_cb_t( stg_world_callback_t cb, void* arg ) 
                  : callback(NULL), arg(arg) { (void)cb; }
                        
                stg_cb_t() : callback(NULL), arg(NULL) {}
                        
                bool operator<( const stg_cb_t& other ) const
                { return ((void*)(callback)) < ((void*)(other.callback)); }
                        
                bool operator==( const stg_cb_t& other ) const
                { return( callback == other.callback);  }                       
         };
                
         class Flag
         {
         public:
                Color color;
                double size;
                static int displaylist;
                
                Flag( Color color, double size );
                Flag* Nibble( double portion );
                
                void Draw(  GLUquadric* quadric );
         };

  protected:
         static std::map<void*, std::set<stg_cb_t> > callbacks;
                
         Color color;
         double friction;
                
         bool data_fresh;
         stg_bool_t disabled; 
         std::list<Visualizer*> cv_list;
         std::list<Flag*> flag_list;
         Geom geom;

         class GuiState
         {
         public:
                bool grid;
                bool move;
                bool nose;
                bool outline;
                
                GuiState();
                void Load( Worldfile* wf, int wf_entity );
         } gui;
         
         bool has_default_block;
  
         /* Hooks for attaching special callback functions (not used as
                 variables - we just need unique addresses for them.) */  
         class CallbackHooks
         {
         public:
                int flag_incr;
                int flag_decr;
                int init;
                int load;
                int save;
                int shutdown;
                int startup;
                int update;
                int update_done;

                 /* optimization: record the number of attached callbacks for pose
                                and velocity, so we can cheaply determine whether we need to
                                call a callback for SetPose() and SetVelocity(), which happen
                                very frequently. */
                 int attached_velocity;
                 int attached_pose;
                 int attached_update;
                 
                 CallbackHooks() : 
                         attached_velocity(0), 
                         attached_pose(0), 
                         attached_update(0) 
                 {}

         } hooks;
  
         uint32_t id;   
         stg_usec_t interval; 
         stg_usec_t interval_energy; 
         stg_usec_t interval_pose; 

         stg_usec_t last_update; 
         bool log_state; 
         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;

         class RasterVis : public Visualizer
         {
         private:
                uint8_t* data;
                unsigned int width, height;
                stg_meters_t cellwidth, cellheight;
                std::vector<stg_point_t> pts;
          
         public:
                RasterVis();
                virtual ~RasterVis( void ){}
                virtual void Visualize( Model* mod, Camera* cam );
          
                void SetData( uint8_t* data, 
                                                  unsigned int width, 
                                                  unsigned int height,
                                                  stg_meters_t cellwidth,
                                                  stg_meters_t cellheight );
          
                int subs;     //< the number of subscriptions to this model
                int used;     //< the number of connections to this model
          
                void AddPoint( stg_meters_t x, stg_meters_t y );
                void ClearPts();
          
         } rastervis;
         
         bool rebuild_displaylist; 
         std::string say_string;   
                
         stg_bool_t stall;
         int subs;    

         bool thread_safe;
         
         class TrailItem 
         {                                                                                                                                                                                      
         public:
                stg_usec_t time;
                Pose pose;
                Color color;
                
                TrailItem() 
                  : time(0), pose(), color(){}
                 
                 //TrailItem( stg_usec_t time, Pose pose, Color color ) 
                 //: time(time), pose(pose), color(color){}
         };
        
                std::vector<TrailItem> trail;

                unsigned int trail_index;

         static unsigned int trail_length;
         
         static uint64_t trail_interval;
         
                void UpdateTrail();

         //stg_model_type_t type;  
         const std::string type;
                unsigned int event_queue_num; 
                bool used;   
                Velocity velocity;
                
                bool velocity_enable;
                
                stg_watts_t watts;
         
         stg_watts_t watts_give;
        
         stg_watts_t watts_take;
        
         Worldfile* wf;
         int wf_entity;
         World* world; // pointer to the world in which this model exists
         WorldGui* world_gui; //pointer to the GUI world - NULL if running in non-gui mode

  public:
         
         const std::string& GetModelType() const {return type;}  
         std::string GetSayString(){return std::string(say_string);}
         
    Model* GetChild( const std::string& name ) const;

         class Visibility
         {
         public:
                bool blob_return;
                int fiducial_key;
                int fiducial_return;
                bool gripper_return;
                stg_laser_return_t laser_return;
                bool obstacle_return;
                bool ranger_return;
                bool gravity_return;
                bool sticky_return;
                
                Visibility();
                void Load( Worldfile* wf, int wf_entity );
         } vis;
         
         stg_usec_t GetUpdateInterval(){ return interval; }
         stg_usec_t GetEnergyInterval(){ return interval_energy; }
         stg_usec_t GetPoseInterval(){ return interval_pose; }
         
         void Rasterize( uint8_t* data, 
                                                  unsigned int width, unsigned int height,
                                                  stg_meters_t cellwidth, stg_meters_t cellheight );
        
  private: 
         explicit Model(const Model& original);

         Model& operator=(const Model& original);

  protected:

         void RegisterOption( Option* opt );

         void AppendTouchingModels( ModelPtrSet& touchers );

         Model* TestCollision();

    Model* TestCollisionTree();
  
         void CommitTestedPose();

         void Map();
         void UnMap();

         void MapWithChildren();
         void UnMapWithChildren();
  
         // Find the root model, and map/unmap the whole tree.
         void MapFromRoot();
         void UnMapFromRoot();

         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 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 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 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 );
  

         void GPoseDirtyTree();

         virtual void Startup();
         virtual void Shutdown();
         virtual void Update();
         virtual void UpdatePose();
         virtual void UpdateCharge();

         Model* ConditionalMove( const Pose& newpose );

         stg_meters_t ModelHeight() const;

         void DrawBlocksTree();
         virtual void DrawBlocks();
         void DrawBoundingBox();
         void DrawBoundingBoxTree();
         virtual void DrawStatus( Camera* cam );
         void DrawStatusTree( Camera* cam );
  
         void DrawOriginTree();
         void DrawOrigin();
  
         void PushLocalCoords();
         void PopCoords();
  
         void DrawImage( uint32_t texture_id, Camera* cam, float alpha, double width=1.0, double height=1.0 );
        
         virtual void DrawPicker();
         virtual void DataVisualize( Camera* cam );  
         virtual void DrawSelected(void);
        
         void DrawTrailFootprint();
         void DrawTrailBlocks();
         void DrawTrailArrows();
         void DrawGrid();
         //     void DrawBlinkenlights();
         void DataVisualizeTree( Camera* cam );
         void DrawFlagList();
         void DrawPose( Pose pose );
        
  public:
         virtual void PushColor( Color col ){ world->PushColor( col ); }        
         virtual void PushColor( double r, double g, double b, double a ){ world->PushColor( r,g,b,a ); }       
         virtual void PopColor()        { world->PopColor(); }
        
         PowerPack* FindPowerPack() const;
        
         //void RecordRenderPoint( GSList** head, GSList* link, 
         //                                     unsigned int* c1, unsigned int* c2 );

         void PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax, 
                                                                        stg_meters_t ymin, stg_meters_t ymax );
        
         std::string PoseString()
         { return pose.String(); }
        
         static Model* LookupId( uint32_t id )
         { return modelsbyid[id]; }
         
         Model( World* world, 
                          Model* parent = NULL, 
                          const std::string& type = "model" );
         
         virtual ~Model();
        
         void Say( const std::string& str );
         
         void AddVisualizer( Visualizer* custom_visual, bool on_by_default );

         void RemoveVisualizer( Visualizer* custom_visual );

         void BecomeParentOf( Model* child );

         void Load( Worldfile* wf, int wf_entity )
         {
                SetWorldfile( wf, wf_entity );
                Load(); // call virtual load
         }
        
         void SetWorldfile( Worldfile* wf, int wf_entity )
         { this->wf = wf; this->wf_entity = wf_entity; }
        
         virtual void Load();
        
         virtual void Save();
        
         void InitControllers();

         void AddFlag(  Flag* flag );
         void RemoveFlag( Flag* flag );
        
         void PushFlag( Flag* flag );
         Flag* PopFlag();
        
         int GetFlagCount() const { return flag_list.size(); }
    
         void Disable(){ disabled = true; };

         void Enable(){ disabled = false; };
  
         void LoadControllerModule( const char* lib );
        
         void NeedRedraw();
        
         void LoadBlock( Worldfile* wf, int entity );

         Block* AddBlockRect( stg_meters_t x, stg_meters_t y, 
                                                                 stg_meters_t dx, stg_meters_t dy, 
                                                                 stg_meters_t dz );
        
         void ClearBlocks();
  
         Model* Parent() const { return this->parent; }

         World* GetWorld() const { return this->world; }
  
         Model* Root(){ return(  parent ? parent->Root() : this ); }
  
         bool IsAntecedent( const Model* testmod ) const;
        
         bool IsDescendent( const Model* testmod ) const;
        
         bool IsRelated( const Model* testmod ) const;

         Pose GetGlobalPose() const;
        
         Velocity GetGlobalVelocity()  const;
        
         /* set the velocity of a model in the global coordinate system */
         void SetGlobalVelocity( const Velocity& gvel );
        
         void Subscribe();
        
         void Unsubscribe();
        
         void SetGlobalPose(  const Pose& gpose );
        
         void SetVelocity(  const Velocity& vel );
        
                void VelocityEnable();

                void VelocityDisable();

         void SetPose(  const Pose& pose );
        
         void AddToPose(  const Pose& pose );
        
         void AddToPose(  double dx, double dy, double dz, double da );
        
         void SetGeom(  const Geom& src );
  
         void SetFiducialReturn(  int fid );
  
         int GetFiducialReturn()  const { return vis.fiducial_return; }
  
         void SetFiducialKey(  int key );
        
         Color GetColor() const { return color; }
         
         uint32_t GetId()  const { return id; }
         
         stg_kg_t GetTotalMass();
         
         stg_kg_t GetMassOfChildren();

         int SetParent( Model* newparent);
        
         Geom GetGeom() const { return geom; }
        
         Pose GetPose() const { return pose; }
        
         Velocity GetVelocity() const { return velocity; }
        
         // guess what these do?
         void SetColor( Color col );
         void SetMass( stg_kg_t mass );
         void SetStall( stg_bool_t stall );
         void SetGravityReturn( int val );
         void SetGripperReturn( int val );
         void SetStickyReturn( int val );
         void SetLaserReturn( stg_laser_return_t val );
         void SetObstacleReturn( int val );
         void SetBlobReturn( int val );
         void SetRangerReturn( int val );
         void SetBoundary( int val );
         void SetGuiNose( int val );
         void SetGuiMove( int val );
         void SetGuiGrid( int val );
         void SetGuiOutline( int val );
         void SetWatts( stg_watts_t watts );
         void SetMapResolution( stg_meters_t res );
         void SetFriction( double friction );
        
         bool DataIsFresh() const { return this->data_fresh; }
        
         /* attach callback functions to data members. The function gets
                 called when the member is changed using SetX() accessor method */
                
         void AddCallback( void* address, 
                                                         stg_model_callback_t cb, 
                                                         void* user );
                
         int RemoveCallback( void* member,
                                                                stg_model_callback_t callback );
                
         int CallCallbacks(  void* address );
                
         /* wrappers for the generic callback add & remove functions that hide
                 some implementation detail */
        
         void AddStartupCallback( stg_model_callback_t cb, void* user )
         { AddCallback( &hooks.startup, cb, user ); };
        
         void RemoveStartupCallback( stg_model_callback_t cb )
         { RemoveCallback( &hooks.startup, cb ); };
        
         void AddShutdownCallback( stg_model_callback_t cb, void* user )
         { AddCallback( &hooks.shutdown, cb, user ); };
        
         void RemoveShutdownCallback( stg_model_callback_t cb )
         { RemoveCallback( &hooks.shutdown, cb ); }
        
         void AddLoadCallback( stg_model_callback_t cb, void* user )
         { AddCallback( &hooks.load, cb, user ); }
        
         void RemoveLoadCallback( stg_model_callback_t cb )
         { RemoveCallback( &hooks.load, cb ); }
        
         void AddSaveCallback( stg_model_callback_t cb, void* user )
         { AddCallback( &hooks.save, cb, user ); }
        
         void RemoveSaveCallback( stg_model_callback_t cb )
         { RemoveCallback( &hooks.save, cb ); }
  
         void AddUpdateCallback( stg_model_callback_t cb, void* user )
         { AddCallback( &hooks.update, cb, user ); }
         
         void RemoveUpdateCallback( stg_model_callback_t cb )
         {      RemoveCallback( &hooks.update, cb ); }
         
         void AddFlagIncrCallback( stg_model_callback_t cb, void* user )
         {      AddCallback( &hooks.flag_incr, cb, user ); }
        
         void RemoveFlagIncrCallback( stg_model_callback_t cb )
         {      RemoveCallback( &hooks.flag_incr, cb ); }

         void AddFlagDecrCallback( stg_model_callback_t cb, void* user )
         {      AddCallback( &hooks.flag_decr, cb, user ); }
        
         void RemoveFlagDecrCallback( stg_model_callback_t cb )
         {      RemoveCallback( &hooks.flag_decr, cb ); }
         
                
         virtual void Print( char* prefix ) const;
         virtual const char* PrintWithPose() const;
        
         Pose GlobalToLocal( const Pose& pose ) const;
         
         Pose LocalToGlobal( const Pose& pose ) const
         {  
                return( ( GetGlobalPose() + geom.pose ) + pose );
         }
                
                void LocalToPixels( const std::vector<stg_point_t>& local,
                                                                                                std::vector<stg_point_int_t>& pixels) const;
                
         stg_point_t LocalToGlobal( const stg_point_t& pt) const;               

         Model* GetUnsubscribedModelOfType( const std::string& type ) const;
        
         Model* GetUnusedModelOfType( const std::string& type );
  
         bool Stalled() const { return this->stall; }
         
         unsigned int GetSubscriptionCount() const { return subs; }

         bool HasSubscribers() const { return( subs > 0 ); }     

         static std::map< std::string, creator_t> name_map;      
  };


  // BLOBFINDER MODEL --------------------------------------------------------


  class ModelBlobfinder : public Model
  {
  public:
         class Blob
         {
         public:
                Color color;
                uint32_t left, top, right, bottom;
                stg_meters_t range;
         };

         class Vis : public Visualizer 
         {
         private:
                //static Option showArea;
         public:
                Vis( World* world );
                virtual ~Vis( void ){}
                virtual void Visualize( Model* mod, Camera* cam );
         } vis;

  private:
         std::vector<Blob> blobs;
         std::vector<Color> colors;

         // predicate for ray tracing
         static bool BlockMatcher( Block* testblock, Model* finder );

  public:
         stg_radians_t fov;
         stg_radians_t pan;
         stg_meters_t range;
         unsigned int scan_height;
         unsigned int scan_width;
         
         // constructor
         ModelBlobfinder( World* world,
                                                        Model* parent,
                                                        const std::string& type );
         // destructor
         ~ModelBlobfinder();
        
         virtual void Startup();
         virtual void Shutdown();
         virtual void Update();
         virtual void Load();
                
         Blob* GetBlobs( unsigned int* count )
         { 
                if( count ) *count = blobs.size();
                return &blobs[0];
         }

         void AddColor( Color col );

         void RemoveColor( Color col );

         void RemoveAllColors();
  };




  // LASER MODEL --------------------------------------------------------
  
  class ModelLaser : public Model
  {
  public:
         class Sample
         {
         public:
                stg_meters_t range; 
                double reflectance; 
         };
                
         class Config
         {
         public:
                uint32_t sample_count; 
                uint32_t resolution; 
                Bounds range_bounds; 
                stg_radians_t fov; 
                stg_usec_t interval; 
         };
                
  private:       
         class Vis : public Visualizer 
         {
         private:
                static Option showArea;
                static Option showStrikes;
                static Option showFov;
                static Option showBeams;

         public:
                Vis( World* world );            virtual ~Vis( void ){}
                virtual void Visualize( Model* mod, Camera* cam );
         } vis;
                
         unsigned int sample_count;
         std::vector<Sample> samples;

         stg_meters_t range_max;
         stg_radians_t fov;
         uint32_t resolution;
    
         // set up data buffers after the config changes
         void SampleConfig();

  public:
         // constructor
         ModelLaser( World* world,
                                         Model* parent,
                                         const std::string& type ); 
  
         // destructor
         ~ModelLaser();
        
         virtual void Startup();
         virtual void Shutdown();
         virtual void Update();
         virtual void Load();
         virtual void Print( char* prefix );
  
         Sample* GetSamples( uint32_t* count );
         
         const std::vector<Sample>& GetSamples();
         
         Config GetConfig( );
         
         void SetConfig( Config& cfg );  
  };
  

  // Light indicator model
  class ModelLightIndicator : public Model
  {
  public:
         ModelLightIndicator( World* world, 
                                                                 Model* parent,
                                                                 const std::string& type );
         ~ModelLightIndicator();
  
         void SetState(bool isOn);

  protected:
         virtual void DrawBlocks();

  private:
         bool m_IsOn;
  };

  // \todo  GRIPPER MODEL --------------------------------------------------------


  class ModelGripper : public Model
  {
  public:

         enum paddle_state_t {
                PADDLE_OPEN = 0, // default state
                PADDLE_CLOSED, 
                PADDLE_OPENING,
                PADDLE_CLOSING,
         };
         
         enum lift_state_t {
                LIFT_DOWN = 0, // default state
                LIFT_UP, 
                LIFT_UPPING, // verbed these to match the paddle state
                LIFT_DOWNING, 
         };
         
         enum cmd_t {
                CMD_NOOP = 0, // default state
                CMD_OPEN, 
                CMD_CLOSE,
                CMD_UP, 
                CMD_DOWN    
         };
         
         
         struct config_t
         {
                Size paddle_size; 
                paddle_state_t paddles;
                lift_state_t lift;              
                double paddle_position; 
                double lift_position; 
                Model* gripped;
                bool paddles_stalled; // true iff some solid object stopped the paddles closing or opening
                double close_limit; 
                bool autosnatch; 
                double break_beam_inset[2]; 
      Model* beam[2]; 
      Model* contact[2]; 
         };
         
  private:
         virtual void Update();
         virtual void DataVisualize( Camera* cam );
         
         void FixBlocks();
         void PositionPaddles();
         void UpdateBreakBeams();
         void UpdateContacts();

         config_t cfg;
         cmd_t cmd;
         
         Block* paddle_left;
         Block* paddle_right;

         static Option showData;

  public:        
         static const Size size;

         // constructor
         ModelGripper( World* world,
                                                Model* parent,
                                                const std::string& type );
         // destructor
         virtual ~ModelGripper();
  
         virtual void Load();
         virtual void Save();

         void SetConfig( config_t & newcfg ){ this->cfg = newcfg; FixBlocks(); }
         
         config_t GetConfig(){ return cfg; };
         
         void SetCommand( cmd_t cmd ) { this->cmd = cmd; }
         void CommandClose() { SetCommand( CMD_CLOSE ); }
         void CommandOpen() { SetCommand( CMD_OPEN ); }
         void CommandUp() { SetCommand( CMD_UP ); }
         void CommandDown() { SetCommand( CMD_DOWN ); }
  };


  // \todo BUMPER MODEL --------------------------------------------------------

  //   typedef struct
  //   {
  //     Pose pose;
  //     stg_meters_t length;
  //   } stg_bumper_config_t;

  //   typedef struct
  //   {
  //     Model* hit;
  //     stg_point_t hit_point;
  //   } stg_bumper_sample_t;


  // FIDUCIAL MODEL --------------------------------------------------------

  class ModelFiducial : public Model
  {
  public:  
         class Fiducial
         {
         public:
                stg_meters_t range; 
                stg_radians_t bearing; 
                Pose geom; 
                Pose pose; 
                Model* mod; 
                int id; 
         };

  private:
         // if neighbor is visible, add him to the fiducial scan
         void AddModelIfVisible( Model* him );

         virtual void Update();
         virtual void DataVisualize( Camera* cam );

         static Option showData;
         static Option showFov;
         
         std::vector<Fiducial> fiducials;
                
  public:               
         ModelFiducial( World* world, 
                                                 Model* parent,
                                                 const std::string& type );
         virtual ~ModelFiducial();
        
         virtual void Load();
         void Shutdown( void );

         stg_meters_t max_range_anon;
         stg_meters_t max_range_id; 
         stg_meters_t min_range; 
         stg_radians_t fov; 
         stg_radians_t heading; 
         int key; 
                
                
         std::vector<Fiducial>& GetFiducials() { return fiducials; }
                
         Fiducial* GetFiducials( unsigned int* count )
         {
                if( count ) *count = fiducials.size();
                return &fiducials[0];
         }
  };


  // RANGER MODEL --------------------------------------------------------

  class ModelRanger : public Model
  {
  public:
         class Sensor
         {
         public:
                Pose pose;
                Size size;
                Bounds bounds_range;
                stg_radians_t fov;
                int ray_count;
                stg_meters_t range;
         };

  protected:

         virtual void Startup();
         virtual void Shutdown();
         virtual void Update();
         virtual void DataVisualize( Camera* cam );
        
  public:
         ModelRanger( World* world, Model* parent,
                                          const std::string& type );
         virtual ~ModelRanger();
        
         virtual void Load();
         virtual void Print( char* prefix );
         
         std::vector<Sensor> sensors;
        
  private:
         static Option showRangerData;
         static Option showRangerTransducers;           
  };
        
  // BLINKENLIGHT MODEL ----------------------------------------------------
  class ModelBlinkenlight : public Model
  {
  private:
         double dutycycle;
         bool enabled;
         stg_msec_t period;
         bool on;

         static Option showBlinkenData;
  public:
         ModelBlinkenlight( World* world,
                                                          Model* parent,
                                                          const std::string& type );

         ~ModelBlinkenlight();
        
         virtual void Load();
         virtual void Update();
         virtual void DataVisualize( Camera* cam );
  };

        
  // CAMERA MODEL ----------------------------------------------------

  class ModelCamera : public Model
  {
  public:
         typedef struct 
         {
                // GL_V3F
                GLfloat x, y, z;
         } ColoredVertex;
  
  private:
         Canvas* _canvas;

         GLfloat* _frame_data;  //opengl read buffer
         GLubyte* _frame_color_data;  //opengl read buffer

         bool _valid_vertexbuf_cache;
         ColoredVertex* _vertexbuf_cache; //cached unit vectors with appropriate rotations (these must be scalled by z-buffer length)
        
         int _width;         //width of buffer
         int _height;        //height of buffer
         static const int _depth = 4;
        
         int _camera_quads_size;
         GLfloat* _camera_quads;
         GLubyte* _camera_colors;
        
         static Option showCameraData;
        
         PerspectiveCamera _camera;
         float _yaw_offset; //position camera is mounted at
         float _pitch_offset;
                
         bool GetFrame();
        
  public:
         ModelCamera( World* world,
                                          Model* parent,
                                          const std::string& type ); 
          
         ~ModelCamera();
  
         virtual void Load();
        
         virtual void Update();
        
         //virtual void Draw( uint32_t flags, Canvas* canvas );
        
         virtual void DataVisualize( Camera* cam );
        
         int getWidth( void ) const { return _width; }
        
         int getHeight( void ) const { return _height; }
        
         const PerspectiveCamera& getCamera( void ) const { return _camera; }
        
         const GLfloat* FrameDepth() const { return _frame_data; }
        
         const GLubyte* FrameColor() const { return _frame_color_data; }
        
         void setPitch( float pitch ) { _pitch_offset = pitch; _valid_vertexbuf_cache = false; }
        
         void setYaw( float yaw ) { _yaw_offset = yaw; _valid_vertexbuf_cache = false; }
  };

  // POSITION MODEL --------------------------------------------------------

  class ModelPosition : public Model
  {
         friend class Canvas;

  public:
         typedef enum
                { CONTROL_VELOCITY, 
                  CONTROL_POSITION 
                } ControlMode;
         
         typedef enum
                { LOCALIZATION_GPS, 
                  LOCALIZATION_ODOM 
                } LocalizationMode;
         
         typedef enum
                { DRIVE_DIFFERENTIAL, 
                  DRIVE_OMNI, 
                  DRIVE_CAR 
                } DriveMode;
         
  private:
         Pose goal;
         ControlMode control_mode;
         DriveMode drive_mode;
         LocalizationMode localization_mode; 
         Velocity integration_error; 
         double wheelbase;
         
  public:
         // constructor
         ModelPosition( World* world,
                                                 Model* parent,
                                                 const std::string& type );
         // destructor
         ~ModelPosition();

         virtual void Startup();
         virtual void Shutdown();
         virtual void Update();
         virtual void Load();
                
         class Waypoint
         {
         public:
                Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z, stg_radians_t a, Color color ) ;
                Waypoint( const Pose& pose, Color color ) ;
                Waypoint();
                void Draw() const;
                
                Pose pose;
                Color color;
         };
         
         std::vector<Waypoint> waypoints;

         class WaypointVis : public Visualizer
         {
         public:
                WaypointVis();
                virtual ~WaypointVis( void ){}
                virtual void Visualize( Model* mod, Camera* cam );
         } wpvis;
         
         class PoseVis : public Visualizer
         {
         public:
                PoseVis();
                virtual ~PoseVis( void ){}
                virtual void Visualize( Model* mod, Camera* cam );
         } posevis;

         void SetOdom( Pose odom );
                
         void SetSpeed( double x, double y, double a );
         void SetXSpeed( double x );
         void SetYSpeed( double y );
         void SetZSpeed( double z );
         void SetTurnSpeed( double a );
         void SetSpeed( Velocity vel );
         void Stop();

         void GoTo( double x, double y, double a );
         void GoTo( Pose pose );

         // localization state
         Pose est_pose; 
         Pose est_pose_error; 
         Pose est_origin; 
  };


  // ACTUATOR MODEL --------------------------------------------------------

  class ModelActuator : public Model
  {
  public:
         typedef enum
                { CONTROL_VELOCITY,
                  CONTROL_POSITION
                } ControlMode;
  
         typedef enum
                { TYPE_LINEAR,
                  TYPE_ROTATIONAL
                } ActuatorType;
  
  private:
         double goal; //< the current velocity or pose to reach, depending on the value of control_mode
         double pos;
         double max_speed;
         double min_position;
         double max_position;
         ControlMode control_mode;
         ActuatorType actuator_type;
         stg_point3_t axis;
  
         Pose InitialPose;
  public:  
         // constructor
         ModelActuator( World* world,
                                                 Model* parent,
                                                 const std::string& type );
         // destructor
         ~ModelActuator();
  
         virtual void Startup();
         virtual void Shutdown();
         virtual void Update();
         virtual void Load();
  
         void SetSpeed( double speed );
  
         double GetSpeed() const {return goal;}
  
         void GoTo( double pose );
  
         double GetPosition() const {return pos;};
         double GetMaxPosition() const {return max_position;};
         double GetMinPosition() const {return min_position;};
  
  };


}; // end namespace stg

#endif

---

stage
Author(s): Richard Vaughan, with contributions from many others. See web page for a full credits list.
autogenerated on Fri Jan 11 10:03:38 2013