The Stage library uses its own namespace. More...

Namespaces
	Gl

Classes
class	Ancestor

struct	blinkenlight_t

class	Block

class	BlockGroup

class	Bounds

class	bounds3d_t

class	Camera

class	Canvas

class	Cell

class	Color

class	CProperty
	Property class. More...

class	CtrlArgs

class	FileManager

struct	fov_t

class	Geom

class	LogEntry

class	Model
	Model class More...

class	ModelActuator
	ModelActuator class More...

class	ModelBlinkenlight

class	ModelBlobfinder
	ModelBlobfinder class More...

class	ModelCamera
	ModelCamera class More...

class	ModelFiducial
	ModelFiducial class More...

class	ModelGripper

class	ModelLightIndicator

class	ModelPosition
	ModelPosition class More...

class	ModelRanger
	ModelRanger class More...

class	Option

class	OptionsDlg

class	OrthoCamera

class	PerspectiveCamera

class	point3_t

class	point_int_t

class	point_t

class	Pose

class	PowerPack

class	Ray

class	RaytraceResult

class	Region

struct	rotrect_t

class	Size

class	StripPlotVis

class	SuperRegion

class	TextureManager
	Singleton for loading textures (not threadsafe) More...

class	Velocity

class	Visualizer

class	World
	World class More...

class	Worldfile

class	WorldGui

Typedefs
typedef Model (	creator_t) (World , Model , const std::string &type)

typedef uint32_t	id_t

typedef double	joules_t

typedef double	kg_t

typedef double	meters_t

typedef int(*	model_callback_t) (Model mod, void user)

typedef unsigned long	msec_t

typedef double	radians_t

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

typedef struct timeval	time_t

typedef uint64_t	usec_t

typedef double	watts_t

typedef int(*	world_callback_t) (World world, void user)

Enumerations
enum	{ FiducialNone = 0 }

Functions
const int32_t	CELLMASK (~((~0x00)<< RBITS))

double	constrain (double val, double minval, double maxval)

double	dtor (double d)

template<class T , class C >
void	EraseAll (T thing, C &cont)

int32_t	GETCELL (const int32_t x)

int32_t	GETREG (const int32_t x)

int32_t	GETSREG (const int32_t x)

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

bool	InitDone ()

double	normalize (double a)

const int32_t	RBITS (5)

const int32_t	REGIONMASK (~((~0x00)<< SRBITS))

const int32_t	REGIONSIZE (REGIONWIDTH *REGIONWIDTH)

const int32_t	REGIONWIDTH (1<< RBITS)

void	RegisterModels ()

int	rotrects_from_image_file (const std::string &filename, std::vector< rotrect_t > &rects)

double	rtod (double r)

const int32_t	SBITS (5)

int	sgn (int a)

double	sgn (double a)

const int32_t	SRBITS (RBITS+SBITS)

const int32_t	SUPERREGIONSIZE (SUPERREGIONWIDTH *SUPERREGIONWIDTH)

const int32_t	SUPERREGIONWIDTH (1<< SBITS)

point_t *	unit_square_points_create ()

const char *	Version ()

Variables
const char	AUTHORS []

const double	billion = 1e9

const char	COPYRIGHT []

const char	DESCRIPTION []

const char	LICENSE []

const double	million = 1e6

const double	thousand = 1e3

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

Detailed Description

The Stage library uses its own namespace.

Typedef Documentation

typedef Model*(* Stg::creator_t) (World *, Model *, const std::string &type)

Definition at line 87 of file stage.hh.

typedef uint32_t Stg::id_t

Value that uniquely identifies a model

Definition at line 171 of file stage.hh.

typedef double Stg::joules_t

Joules: unit of energy

Definition at line 192 of file stage.hh.

typedef double Stg::kg_t

Kilograms: unit of mass

Definition at line 189 of file stage.hh.

typedef double Stg::meters_t

Metres: floating point unit of distance

Definition at line 174 of file stage.hh.

typedef int(* Stg::model_callback_t) (Model *mod, void *user)

Define a callback function type that can be attached to a record within a model and called whenever the record is set.

Definition at line 568 of file stage.hh.

typedef unsigned long Stg::msec_t

Milliseconds: unit of (short) time

Definition at line 183 of file stage.hh.

typedef double Stg::radians_t

Radians: unit of angle

Definition at line 177 of file stage.hh.

typedef bool(* Stg::ray_test_func_t) (Model *candidate, Model *finder, const void *arg)

matching function should return true iff the candidate block is stops the ray, false if the block transmits the ray

Definition at line 603 of file stage.hh.

typedef struct timeval Stg::time_t

time structure

Definition at line 180 of file stage.hh.

typedef uint64_t Stg::usec_t

Microseconds: unit of (very short) time

Definition at line 186 of file stage.hh.

typedef double Stg::watts_t

Watts: unit of power (energy/time)

Definition at line 195 of file stage.hh.

typedef int(* Stg::world_callback_t) (World *world, void *user)

Definition at line 570 of file stage.hh.

Enumeration Type Documentation

anonymous enum

any integer value other than this is a valid fiducial ID

Enumerator
FiducialNone

Definition at line 168 of file stage.hh.

Function Documentation

const int32_t Stg::CELLMASK ( ~ (~0x00)<< RBITS )

double Stg::constrain	(	double	val,
		double	minval,
		double	maxval
	)

Definition at line 235 of file stage.cc.

double Stg::dtor ( double d )

inline

convert an angle in degrees to radians.

Definition at line 151 of file stage.hh.

template<class T , class C >

void Stg::EraseAll	(	T	thing,
		C &	cont
	)

wrapper for Erase-Remove method of removing all instances of thing from container

Definition at line 621 of file stage.hh.

int32_t Stg::GETCELL ( const int32_t x )

inline

Definition at line 27 of file region.hh.

int32_t Stg::GETREG ( const int32_t x )

inline

Definition at line 28 of file region.hh.

int32_t Stg::GETSREG ( const int32_t x )

inline

Definition at line 29 of file region.hh.

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

Initialize the Stage library. Stage will parse the argument array looking for parameters in the conventnioal way.

Definition at line 18 of file stage.cc.

bool Stg::InitDone ( )

returns true iff Stg::Init() has been called.

Definition at line 41 of file stage.cc.

double Stg::normalize ( double a )

inline

Normalize an angle to within +/_ M_PI.

Definition at line 154 of file stage.hh.

const int32_t Stg::RBITS ( 5 )

const int32_t Stg::REGIONMASK ( ~ (~0x00)<< SRBITS )

const int32_t Stg::REGIONSIZE ( REGIONWIDTH * REGIONWIDTH )

const int32_t Stg::REGIONWIDTH ( 1<< RBITS )

void Stg::RegisterModels ( )

Map model names to named constructors for each model type

Definition at line 19 of file typetable.cc.

int Stg::rotrects_from_image_file	(	const std::string &	filename,
		std::vector< rotrect_t > &	rects
	)

load the image file [filename] and convert it to an array of rectangles, filling in the number of rects, width and height. The vector [rects] is populated with rectangles.

Definition at line 102 of file stage.cc.

double Stg::rtod ( double r )

inline

convert an angle in radians to degrees.

Definition at line 148 of file stage.hh.

const int32_t Stg::SBITS ( 5 )

int Stg::sgn ( int a )

inline

take binary sign of a, either -1, or 1 if >= 0

Definition at line 162 of file stage.hh.

double Stg::sgn ( double a )

inline

take binary sign of a, either -1.0, or 1.0 if >= 0.

Definition at line 165 of file stage.hh.

const int32_t Stg::SRBITS ( RBITS+ SBITS )

const int32_t Stg::SUPERREGIONSIZE ( SUPERREGIONWIDTH * SUPERREGIONWIDTH )

const int32_t Stg::SUPERREGIONWIDTH ( 1<< SBITS )

point_t * Stg::unit_square_points_create ( void )

create an array of 4 points containing the corners of a unit square.

Definition at line 218 of file stage.cc.

const char * Stg::Version ( )

returns a human readable string indicating the libstage version number.

Definition at line 12 of file stage.cc.

Variable Documentation

const char Stg::AUTHORS[]

Initial value:

=

"Richard Vaughan, Brian Gerkey, Andrew Howard, Reed Hedges, Pooya Karimian, Toby Collett, Jeremy Asher, Alex Couture-Beil and contributors."

Author string

Definition at line 105 of file stage.hh.

const double Stg::billion = 1e9

Convenient constant

Definition at line 145 of file stage.hh.

const char Stg::COPYRIGHT[]

Initial value:

=

Copyright string

Definition at line 101 of file stage.hh.

const char Stg::DESCRIPTION[]

Initial value:

=

"Robot simulation library\nPart of the Player Project"

Project description string

Definition at line 112 of file stage.hh.

const char Stg::LICENSE[]

Initial value:

= 
    "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"

Project distribution license string

Definition at line 116 of file stage.hh.

const double Stg::million = 1e6

Convenient constant

Definition at line 142 of file stage.hh.

const double Stg::thousand = 1e3

Convenient constant

Definition at line 139 of file stage.hh.

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

Project website string

Definition at line 109 of file stage.hh.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation