Namespaces
	gps

	math

Classes
class	AbstractEvent

class	AbstractGpsEstimationManager

class	AbstractParameter

class	Any

class	BasicEvent

class	BoundingBox2

class	BoundingBox3

class	BreadthFirstTraversal

class	CellUpdater

class	Color

class	ConstListIterator

class	CoordinateConverter

class	CorrelationGrid

class	Dataset

struct	DatasetPrivate

class	Drive

class	DrivePose

class	Edge

class	EdgeLabel

struct	EnumPair

class	EventArguments

class	Exception

struct	FindByName

struct	FindByValue

class	Functor

class	Graph

class	GraphTraversal

class	Grid

class	GridIndexLookup

class	Identifier

class	LaserRangeFinder

class	LaserRangeScan

class	LinkInfo

class	List

class	ListIterator

class	LocalizedLaserScan

class	LocalizedObject

class	LocalizedPointScan

class	LocalizedRangeScan

class	LogMessageArguments

class	LookupArray

class	MapperEventArguments

class	MapperGraph

class	MapperSensorManager

struct	MapperSensorManagerPrivate

class	Matrix3

struct	MetaArgsPrivate

class	MetaAttribute

struct	MetaAttributePrivate

class	MetaClass

class	MetaClassHelper

struct	MetaClassManagerPrivate

class	MetaEnum

struct	MetaEnumManagerPrivate

struct	MetaEnumPrivate

class	Module

class	Mutex

struct	MutexPrivate

class	NearScanVisitor

class	Object

class	OccupancyGrid

class	OpenMapper

class	Pair

class	Parameter

class	ParameterDescription

class	ParameterEnum

struct	ParameterEnumPrivate

class	ParameterSet

struct	ParameterSetPrivate

class	Pose2

class	Pose3

class	Quaternion

class	Rectangle2

class	Referenced

struct	ReferencedPrivate

class	RigidBodyTransform

class	ScanMatcher

class	ScanMatcherGridSet

class	ScanMatcherGridSetBank

class	ScanSolver

struct	ScopedLockPrivate

class	Sensor

class	SensorData

class	SensorDataManager

struct	SensorDataPrivate

class	SensorRegistry

struct	SensorRegistryPrivate

class	Size2

class	Size3

class	SmartPointer

class	String

class	StringBuilder

class	StringHelper

struct	StringPrivate

class	Transform

class	Vector2

class	Vector3

class	Vector4

class	Vertex

class	Visitor

Typedefs
typedef SmartPointer< Dataset >	DatasetPtr

typedef List< kt_double >	DoubleList

typedef List< EnumPair >	EnumPairList

typedef SmartPointer< LaserRangeFinder >	LaserRangeFinderPtr

typedef List< LocalizedLaserScanPtr >	LocalizedLaserScanList

typedef SmartPointer< LocalizedLaserScan >	LocalizedLaserScanPtr

typedef List< LocalizedObjectPtr >	LocalizedObjectList

typedef SmartPointer< LocalizedObject >	LocalizedObjectPtr

typedef KARTO_DEPRECATED std::vector< SmartPointer< LocalizedRangeScan > >	LocalizedRangeScanVector

typedef List< ObjectPtr >	ObjectList

typedef SmartPointer< Object >	ObjectPtr

typedef KARTO_DEPRECATED karto::List< ObjectPtr >	ObjectVector

typedef SmartPointer< OccupancyGrid >	OccupancyGridPtr

typedef List< SmartPointer< AbstractParameter > >	ParameterList

typedef SmartPointer< ParameterSet >	ParameterSetPtr

typedef List< Pose2 >	Pose2List

typedef KARTO_DEPRECATED std::vector< Pose2 >	Pose2Vector

typedef List< kt_double >	RangeReadingsList

typedef KARTO_DEPRECATED std::vector< kt_double >	RangeReadingsVector

typedef std::map< Identifier, SensorDataManager * >	SensorDataManagerMap

typedef List< SensorPtr >	SensorList

typedef SmartPointer< Sensor >	SensorPtr

typedef Vector2< kt_double >	Vector2d

typedef List< Vector2d >	Vector2dList

typedef KARTO_DEPRECATED std::vector< Vector2d >	Vector2dVector

typedef Vector2< kt_int32s >	Vector2i

typedef Vector2< kt_int32u >	Vector2iu

typedef Vector3< kt_double >	Vector3d

typedef Vector3< kt_int32s >	Vector3i

typedef Vector3< kt_int32u >	Vector3iu

typedef Vector4< kt_double >	Vector4d

typedef Vector4< kt_int32s >	Vector4i

typedef Vector4< kt_int32u >	Vector4iu

Enumerations
enum	GridStates { GridStates_Unknown = 0, GridStates_Occupied = 100, GridStates_Free = 255 }

enum	LaserRangeFinderType { LaserRangeFinder_Custom = 0, LaserRangeFinder_Sick_LMS100 = 1, LaserRangeFinder_Sick_LMS200 = 2, LaserRangeFinder_Sick_LMS291 = 3, LaserRangeFinder_Hokuyo_UTM_30LX = 4, LaserRangeFinder_Hokuyo_URG_04LX = 5 }

enum	LogLevel { LOG_NONE = 0, LOG_FATAL = 1, LOG_ERROR = 3, LOG_WARNING = 4, LOG_INFORMATION = 6, LOG_DEBUG = 7 }

enum	ParameterFlags { ParameterFlag_Read = 0x01, ParameterFlag_Write = 0x02, ParameterFlag_Hidden = 0x08, ParameterFlag_System = 0x10 }

Functions
template<typename T >
T *	any_cast (Any *pAny)

template<typename T >
T	any_cast (const Any &rAny)

template<typename T >
const T *	any_cast (const Any *pAny)

void	CheckTypeRegistered (const char pName, void(registerFunc)())

template<class TObj , class TArgs >
static Delegate< TObj, TArgs, true >	delegate (TObj pObj, void(TObj::NotifyMethod)(const void *, TArgs &))

template<class TObj , class TArgs >
static Delegate< TObj, TArgs, false >	delegate (TObj pObj, void(TObj::NotifyMethod)(TArgs &))

template<class TArgs >
static FunctionDelegate< TArgs, true, true >	delegate (void(NotifyMethod)(const void , TArgs &))

template<class TArgs >
static FunctionDelegate< TArgs, false >	delegate (void(*NotifyMethod)(TArgs &))

template<class TArgs >
static FunctionDelegate< TArgs, true, false >	delegate (void(NotifyMethod)(void , TArgs &))

template<typename T >
static kt_bool	FromString (const String &rStringValue, Vector3< T > &rValue)

LogLevel	GetLogLevel ()

const MetaClass &	GetMetaClassByIndex (kt_size_t index)

const MetaClass &	GetMetaClassByName (const karto::String &rName)

template<typename T >
const MetaClass &	GetMetaClassByObject (const T &rObject)

template<typename T >
const MetaClass &	GetMetaClassByType ()

const MetaEnum &	GetMetaEnumByIndex (kt_size_t index)

const MetaEnum &	GetMetaEnumByName (const karto::String &rName)

template<typename T >
const MetaEnum &	GetMetaEnumByObject (const T &rObject)

template<typename T >
const MetaEnum &	GetMetaEnumByType ()

kt_size_t	GetRegisteredMetaClassSize ()

kt_size_t	GetRegisteredMetaEnumSize ()

void	InitializeLogger (const String &rApplicationName, const String &rLogLevel)

void	InitializeOpenKartoMetaClasses ()

kt_bool	IsLocalizedLaserScan (Object *pObject)

	KARTO_AUTO_TYPE (LaserRangeFinderType, &RegisterLaserRangeFinderType)

	KARTO_TYPE (AbstractParameter)

	KARTO_TYPE (Drive)

	KARTO_TYPE (DrivePose)

	KARTO_TYPE (Grid< kt_double >)

	KARTO_TYPE (Grid< kt_float >)

	KARTO_TYPE (Grid< kt_int32u >)

	KARTO_TYPE (Grid< kt_int8u >)

	KARTO_TYPE (LaserRangeFinder)

	KARTO_TYPE (LaserRangeScan)

	KARTO_TYPE (LocalizedLaserScan)

	KARTO_TYPE (LocalizedObject)

	KARTO_TYPE (LocalizedPointScan)

	KARTO_TYPE (LocalizedRangeScan)

	KARTO_TYPE (Object)

	KARTO_TYPE (OccupancyGrid)

	KARTO_TYPE (Parameter< karto::Color >)

	KARTO_TYPE (Parameter< karto::gps::PointGps >)

	KARTO_TYPE (Parameter< karto::Pose2 >)

	KARTO_TYPE (Parameter< karto::Pose3 >)

	KARTO_TYPE (Parameter< karto::Quaternion >)

	KARTO_TYPE (Parameter< karto::Size2< kt_double > >)

	KARTO_TYPE (Parameter< karto::Size2< kt_int32s > >)

	KARTO_TYPE (Parameter< karto::Size2< kt_int32u > >)

	KARTO_TYPE (Parameter< karto::String >)

	KARTO_TYPE (Parameter< karto::Vector2< kt_double > >)

	KARTO_TYPE (Parameter< karto::Vector2< kt_int32u > >)

	KARTO_TYPE (Parameter< karto::Vector2i >)

	KARTO_TYPE (Parameter< karto::Vector3d >)

	KARTO_TYPE (Parameter< karto::Vector3i >)

	KARTO_TYPE (Parameter< karto::Vector3iu >)

	KARTO_TYPE (Parameter< karto::Vector4d >)

	KARTO_TYPE (Parameter< karto::Vector4i >)

	KARTO_TYPE (Parameter< karto::Vector4iu >)

	KARTO_TYPE (Parameter< kt_bool >)

	KARTO_TYPE (Parameter< kt_char >)

	KARTO_TYPE (Parameter< kt_double >)

	KARTO_TYPE (Parameter< kt_float >)

	KARTO_TYPE (Parameter< kt_int16s >)

	KARTO_TYPE (Parameter< kt_int16u >)

	KARTO_TYPE (Parameter< kt_int32s >)

	KARTO_TYPE (Parameter< kt_int32u >)

	KARTO_TYPE (Parameter< kt_int64s >)

	KARTO_TYPE (Parameter< kt_int64u >)

	KARTO_TYPE (Parameter< kt_int8s >)

	KARTO_TYPE (Parameter< kt_int8u >)

	KARTO_TYPE (ParameterEnum)

	KARTO_TYPE (Sensor)

	KARTO_TYPE (SensorData)

void	Log (LogLevel level, const karto::String &rMessage)

KARTO_EXPORT void	RegisterLaserRangeFinderType ()

void	SetLogLevel (LogLevel level)

void	TerminateLogger ()

Variables
const kt_double	KT_180_PI = 57.29577951308232087685

const kt_double	KT_2PI = 6.28318530717958647692

const kt_double	KT_PI = 3.14159265358979323846

const kt_double	KT_PI_180 = 0.01745329251994329577

const kt_double	KT_PI_2 = 1.57079632679489661923

const kt_double	KT_TOLERANCE = 1e-06

BasicEvent< LogMessageArguments >	LogMessage

const kt_objecttype	ObjectType_Camera = ObjectType_Sensor \| 0x04

const kt_objecttype	ObjectType_CameraImage = ObjectType_SensorData \| 0x40

const kt_objecttype	ObjectType_CustomItem = 0x00004000

const kt_objecttype	ObjectType_DatasetInfo = ObjectType_Object \| 0x02

const kt_objecttype	ObjectType_DatasetObjectMessage = ObjectType_Message \| 0x10

const kt_objecttype	ObjectType_DefaultCustomItem = ObjectType_CustomItem \| 0x01

const kt_objecttype	ObjectType_DoubleMessage = ObjectType_Message \| 0x04

const kt_objecttype	ObjectType_Drive = ObjectType_Sensor \| 0x01

const kt_objecttype	ObjectType_DrivePose = ObjectType_SensorData \| 0x01

const kt_objecttype	ObjectType_Grid = 0x00008000

const kt_objecttype	ObjectType_Header = ObjectType_Misc \| 0x01

const kt_objecttype	ObjectType_Image = ObjectType_Misc \| 0x02

const kt_objecttype	ObjectType_Int32sMessage = ObjectType_Message \| 0x01

const kt_objecttype	ObjectType_Int64sMessage = ObjectType_Message \| 0x02

const kt_objecttype	ObjectType_LaserRangeFinder = ObjectType_Sensor \| 0x02

const kt_objecttype	ObjectType_LaserRangeScan = ObjectType_SensorData \| 0x02

const kt_objecttype	ObjectType_LocalizedLaserScan = ObjectType_SensorData \| 0x20

const kt_objecttype	ObjectType_LocalizedObject = ObjectType_SensorData \| 0x04

const kt_objecttype	ObjectType_LocalizedPointScan = ObjectType_SensorData \| 0x10

const kt_objecttype	ObjectType_LocalizedRangeScan = ObjectType_SensorData \| 0x08

const kt_objecttype	ObjectType_Message = 0x00010000

const kt_objecttype	ObjectType_Misc = 0x10000000

const kt_objecttype	ObjectType_Module = ObjectType_Object \| 0x04

const kt_objecttype	ObjectType_ModuleParameters = ObjectType_Object \| 0x01

const kt_objecttype	ObjectType_None = 0x00000000

const kt_objecttype	ObjectType_Object = 0x00020000

const kt_objecttype	ObjectType_OccupancyGrid = ObjectType_Grid \| 0x01

const kt_objecttype	ObjectType_OccupancyGridTile = ObjectType_Grid \| 0x02

const kt_objecttype	ObjectType_Rfid = ObjectType_CustomItem \| 0x02

const kt_objecttype	ObjectType_ScansPoseUpdateMessage = ObjectType_Message \| 0x20

const kt_objecttype	ObjectType_Sensor = 0x00001000

const kt_objecttype	ObjectType_SensorData = 0x00002000

const kt_objecttype	ObjectType_StringMessage = ObjectType_Message \| 0x08

const kt_objecttype	ObjectType_TiledOccupancyGrid = ObjectType_Object \| 0x08

static kt_bool	s_FileLoggingEnabled = false

static LogLevel	s_LogLevel = LOG_NONE

Typedef Documentation

◆ DatasetPtr

typedef SmartPointer<Dataset> karto::DatasetPtr

Type declaration of Dataset managed by SmartPointer

Definition at line 102 of file Dataset.h.

◆ DoubleList

typedef List<kt_double> karto::DoubleList

Type declaration of kt_double List

Definition at line 53 of file SensorData.h.

◆ EnumPairList

typedef List< EnumPair > karto::EnumPairList

Type declaration of EnumPair List

Definition at line 70 of file MetaEnum.h.

◆ LaserRangeFinderPtr

typedef SmartPointer<LaserRangeFinder> karto::LaserRangeFinderPtr

Type declaration of LaserRangeFinder managed by SmartPointer

Definition at line 462 of file Sensor.h.

◆ LocalizedLaserScanList

typedef List<LocalizedLaserScanPtr> karto::LocalizedLaserScanList

Type declaration of LocalizedLaserScan List

Definition at line 790 of file SensorData.h.

◆ LocalizedLaserScanPtr

typedef SmartPointer<LocalizedLaserScan> karto::LocalizedLaserScanPtr

Type declaration of LocalizedLaserScan managed by SmartPointer

Definition at line 785 of file SensorData.h.

◆ LocalizedObjectList

typedef List<LocalizedObjectPtr> karto::LocalizedObjectList

Type declaration of LocalizedObject List

Definition at line 556 of file SensorData.h.

◆ LocalizedObjectPtr

typedef SmartPointer<LocalizedObject> karto::LocalizedObjectPtr

Type declaration of LocalizedObject managed by SmartPointer

Definition at line 551 of file SensorData.h.

◆ LocalizedRangeScanVector

typedef KARTO_DEPRECATED std::vector<SmartPointer<LocalizedRangeScan> > karto::LocalizedRangeScanVector

Type declaration of LocalizedRangeScan vector. Please use more general class LocalizedLaserScan instead along with LocalizedLaserScanList.

Definition at line 49 of file Deprecated.h.

◆ ObjectList

typedef List<ObjectPtr> karto::ObjectList

Type declaration of Object List

Definition at line 182 of file Object.h.

◆ ObjectPtr

typedef SmartPointer<Object> karto::ObjectPtr

Type declaration of Object managed by SmartPointer

Definition at line 177 of file Object.h.

◆ ObjectVector

typedef KARTO_DEPRECATED karto::List<ObjectPtr> karto::ObjectVector

Type declaration of ObjectVector. Please use ObjectList instead.

Definition at line 54 of file Deprecated.h.

◆ OccupancyGridPtr

typedef SmartPointer<OccupancyGrid> karto::OccupancyGridPtr

Type declaration of OccupancyGrid managed by SmartPointer

Definition at line 253 of file OccupancyGrid.h.

◆ ParameterList

typedef List<SmartPointer<AbstractParameter> > karto::ParameterList

Type declaration of AbstractParameter List

Definition at line 342 of file Parameter.h.

◆ ParameterSetPtr

typedef SmartPointer<ParameterSet> karto::ParameterSetPtr

Type declaration of ParameterSet managed by SmartPointer

Definition at line 426 of file Parameter.h.

◆ Pose2List

typedef List<Pose2> karto::Pose2List

Type declaration of Pose2 List

Definition at line 2396 of file Geometry.h.

◆ Pose2Vector

typedef KARTO_DEPRECATED std::vector<Pose2> karto::Pose2Vector

Type declaration of Pose2 vector. Please use Pose2List instead.

Definition at line 34 of file Deprecated.h.

◆ RangeReadingsList

typedef List<kt_double> karto::RangeReadingsList

Type declaration of range readings List

Definition at line 48 of file SensorData.h.

◆ RangeReadingsVector

typedef KARTO_DEPRECATED std::vector<kt_double> karto::RangeReadingsVector

Type declaration of range readings vector. Please use RangeReadingsList instead.

Definition at line 44 of file Deprecated.h.

◆ SensorDataManagerMap

typedef std::map<Identifier, SensorDataManager*> karto::SensorDataManagerMap

Definition at line 211 of file OpenMapper.cpp.

◆ SensorList

typedef List<SensorPtr> karto::SensorList

Type declaration of Sensor List

Definition at line 119 of file Sensor.h.

◆ SensorPtr

typedef SmartPointer<Sensor> karto::SensorPtr

Type declaration of Sensor managed by SmartPointer

Definition at line 114 of file Sensor.h.

◆ Vector2d

typedef Vector2<kt_double> karto::Vector2d

Type declaration of kt_double Vector2 as Vector2d

Definition at line 610 of file Geometry.h.

◆ Vector2dList

typedef List<Vector2d> karto::Vector2dList

Type declaration of Vector2d List

Definition at line 35 of file Sensor.h.

◆ Vector2dVector

typedef KARTO_DEPRECATED std::vector<Vector2d> karto::Vector2dVector

Type declaration of Vector2d vector. Please use Vector2dList instead.

Definition at line 39 of file Deprecated.h.

◆ Vector2i

typedef Vector2<kt_int32s> karto::Vector2i

Type declaration of kt_int32s Vector2 as Vector2i

Definition at line 600 of file Geometry.h.

◆ Vector2iu

typedef Vector2<kt_int32u> karto::Vector2iu

Type declaration of kt_int32u Vector2 as Vector2iu

Definition at line 605 of file Geometry.h.

◆ Vector3d

typedef Vector3<kt_double> karto::Vector3d

Type declaration of kt_double Vector3 as Vector3d

Definition at line 1046 of file Geometry.h.

◆ Vector3i

typedef Vector3<kt_int32s> karto::Vector3i

Type declaration of kt_int32s Vector3 as Vector3i

Definition at line 1036 of file Geometry.h.

◆ Vector3iu

typedef Vector3<kt_int32u> karto::Vector3iu

Type declaration of kt_int32u Vector3 as Vector3iu

Definition at line 1041 of file Geometry.h.

◆ Vector4d

typedef Vector4<kt_double> karto::Vector4d

Type declaration of double Vector4 as Vector4d

Definition at line 1280 of file Geometry.h.

◆ Vector4i

typedef Vector4<kt_int32s> karto::Vector4i

Type declaration of kt_int32s Vector4 as Vector4i

Definition at line 1270 of file Geometry.h.

◆ Vector4iu

typedef Vector4<kt_int32u> karto::Vector4iu

Type declaration of kt_int32u Vector4 as Vector4iu

Definition at line 1275 of file Geometry.h.

Enumeration Type Documentation

◆ GridStates

enum karto::GridStates

Valid grid cell states

Enumerator
GridStates_Unknown
GridStates_Occupied
GridStates_Free

Definition at line 39 of file OccupancyGrid.h.

◆ LaserRangeFinderType

enum karto::LaserRangeFinderType

Enumerated type for valid LaserRangeFinder types

Enumerator
LaserRangeFinder_Custom
LaserRangeFinder_Sick_LMS100
LaserRangeFinder_Sick_LMS200
LaserRangeFinder_Sick_LMS291
LaserRangeFinder_Hokuyo_UTM_30LX
LaserRangeFinder_Hokuyo_URG_04LX

Definition at line 193 of file Sensor.h.

◆ LogLevel

enum karto::LogLevel

Log levels

Enumerator
LOG_NONE	Disable all logging
LOG_FATAL	Fatal log level
LOG_ERROR	Error log level
LOG_WARNING	Warning log level
LOG_INFORMATION	Information log level
LOG_DEBUG	Debug log level

Definition at line 43 of file Logger.h.

◆ ParameterFlags

enum karto::ParameterFlags

Parameter flags used by the KartoViewer application to control the visibility and read/write access

Enumerator
ParameterFlag_Read	Parameter readable
ParameterFlag_Write	Parameter writeable
ParameterFlag_Hidden	Parameter hidden
ParameterFlag_System	System parameter

Definition at line 43 of file Parameter.h.

Function Documentation

◆ any_cast() [1/3]

template<typename T >

T* karto::any_cast ( Any * pAny )

Cast for extracting a value of a given type from an Any

Parameters

pAny	Any value to cast

Returns: a qualified pointer to the value content if successful, otherwise NULL is returned

Definition at line 206 of file Any.h.

◆ any_cast() [2/3]

template<typename T >

T karto::any_cast ( const Any & rAny )

inline

Cast for extracting a reference value of a given type from an Any Throws an Karto::Exception if unable to cast reference

Parameters

rAny	Any value to cast

Returns: a copy of the value content if successful

Definition at line 229 of file Any.h.

◆ any_cast() [3/3]

template<typename T >

const T* karto::any_cast ( const Any * pAny )

inline

Cast for extracting a const value of a given type from an const Any

Parameters

pAny	Any value to cast

Returns: a qualified pointer to the value content if successful, otherwise NULL is returned

Definition at line 217 of file Any.h.

◆ CheckTypeRegistered()

void karto::CheckTypeRegistered	(	const char *	pName,
		void(*)()	registerFunc
	)

Definition at line 24 of file Meta.cpp.

◆ delegate() [1/5]

template<class TObj , class TArgs >

static Delegate<TObj, TArgs, true> karto::delegate	(	TObj *	pObj,
		void(TObj::)(const void , TArgs &)	NotifyMethod
	)

static

Definition at line 1048 of file Event.h.

◆ delegate() [2/5]

template<class TObj , class TArgs >

static Delegate<TObj, TArgs, false> karto::delegate	(	TObj *	pObj,
		void(TObj::*)(TArgs &)	NotifyMethod
	)

static

Definition at line 1054 of file Event.h.

◆ delegate() [3/5]

template<class TArgs >

static FunctionDelegate<TArgs, true, true> karto::delegate ( void(*)(const void *, TArgs &) NotifyMethod )

static

Definition at line 1060 of file Event.h.

◆ delegate() [4/5]

template<class TArgs >

static FunctionDelegate<TArgs, false> karto::delegate ( void(*)(TArgs &) NotifyMethod )

static

Definition at line 1072 of file Event.h.

◆ delegate() [5/5]

template<class TArgs >

static FunctionDelegate<TArgs, true, false> karto::delegate ( void(*)(void *, TArgs &) NotifyMethod )

static

Definition at line 1066 of file Event.h.

◆ FromString()

template<typename T >

static kt_bool karto::FromString	(	const String &	rStringValue,
		Vector3< T > &	rValue
	)

inlinestatic

Definition at line 3252 of file Geometry.h.

◆ GetLogLevel()

KARTO_EXPORT LogLevel karto::GetLogLevel ( )

Gets the log level

Returns: log level

Definition at line 178 of file Logger.cpp.

◆ GetMetaClassByIndex()

const MetaClass& karto::GetMetaClassByIndex ( kt_size_t index )

inline

Gets a registered MetaClass by index. Use GetRegisteredMetaClassSize to get index range.

Parameters

index

Returns: reference to registered MetaClass

Exceptions

Exception if index is out of range

Definition at line 54 of file Meta.h.

◆ GetMetaClassByName()

const MetaClass& karto::GetMetaClassByName ( const karto::String & rName )

inline

Gets a registered MetaClass by name.

Parameters

rName Class name

Returns: reference to registered MetaClass

Exceptions

Exception if there is no registered MetaClass by specified name

Definition at line 65 of file Meta.h.

◆ GetMetaClassByObject()

template<typename T >

const MetaClass& karto::GetMetaClassByObject ( const T & rObject )

Gets a registered MetaClass by object.

Parameters

rObject object

Returns: reference to registered MetaClass

Exceptions

Exception if there is no registered MetaClass by object

Definition at line 77 of file Meta.h.

◆ GetMetaClassByType()

template<typename T >

const MetaClass& karto::GetMetaClassByType ( )

Gets a registered MetaClass by type.

Returns: reference to registered MetaClass

Exceptions

Exception if there is no registered MetaClass by type T

Definition at line 88 of file Meta.h.

◆ GetMetaEnumByIndex()

const MetaEnum& karto::GetMetaEnumByIndex ( kt_size_t index )

inline

Gets a registered MetaEnum by index. Use GetRegisteredMetaClassSize to get index range.

Parameters

index

Returns: reference to registered MetaEnum

Exceptions

Exception if index is out of range

Definition at line 112 of file Meta.h.

◆ GetMetaEnumByName()

const MetaEnum& karto::GetMetaEnumByName ( const karto::String & rName )

inline

Gets a registered MetaEnum by name.

Parameters

rName enum name

Returns: reference to registered MetaEnum

Exceptions

Exception if there is no registered MetaEnum by specified name

Definition at line 123 of file Meta.h.

◆ GetMetaEnumByObject()

template<typename T >

const MetaEnum& karto::GetMetaEnumByObject ( const T & rObject )

Gets a registered MetaEnum by object.

Parameters

rObject object

Returns: reference to registered MetaEnum

Exceptions

Exception if there is no registered MetaEnum by object

Definition at line 135 of file Meta.h.

◆ GetMetaEnumByType()

template<typename T >

const MetaEnum& karto::GetMetaEnumByType ( )

Gets a registered MetaEnum by type.

Returns: reference to registered MetaEnum

Exceptions

Exception if there is no registered MetaEnum by type T

Definition at line 146 of file Meta.h.

◆ GetRegisteredMetaClassSize()

kt_size_t karto::GetRegisteredMetaClassSize ( )

inline

Gets the number of MetaClass's registered.

Returns: number of MetClass's registered

Definition at line 43 of file Meta.h.

◆ GetRegisteredMetaEnumSize()

kt_size_t karto::GetRegisteredMetaEnumSize ( )

inline

Gets the number of MetaEnum's registered.

Returns: number of MetaEnum's registered

Definition at line 101 of file Meta.h.

◆ InitializeLogger()

void karto::InitializeLogger	(	const String &	rApplicationName,
		const String &	rLogLevel
	)

Definition at line 46 of file Logger.cpp.

◆ InitializeOpenKartoMetaClasses()

void karto::InitializeOpenKartoMetaClasses ( )

Definition at line 23 of file OpenKarto.cpp.

◆ IsLocalizedLaserScan()

kt_bool karto::IsLocalizedLaserScan ( Object * pObject )

inline

Determines whether a given object is a laser scan object

Parameters

pObject object in question

Returns: whether the given object is a laser scan object

Definition at line 53 of file TypeCasts.h.

◆ KARTO_AUTO_TYPE()

karto::KARTO_AUTO_TYPE	(	LaserRangeFinderType	,
		&	RegisterLaserRangeFinderType
	)

Auto register LaserRangeFinderType with MetaEnumManager

◆ KARTO_TYPE() [1/48]

karto::KARTO_TYPE ( AbstractParameter )

Register AbstractParameter with MetaClassManager

◆ KARTO_TYPE() [2/48]

karto::KARTO_TYPE ( Drive )

Register Drive with MetaClassManager

◆ KARTO_TYPE() [3/48]

karto::KARTO_TYPE ( DrivePose )

Register DrivePose with MetaClassManager

◆ KARTO_TYPE() [4/48]

karto::KARTO_TYPE ( Grid< kt_double > )

Register Grid<kt_double> with MetaClassManager

◆ KARTO_TYPE() [5/48]

karto::KARTO_TYPE ( Grid< kt_float > )

Register Grid<kt_float> with MetaClassManager

◆ KARTO_TYPE() [6/48]

karto::KARTO_TYPE ( Grid< kt_int32u > )

Register Grid<kt_int32u> with MetaClassManager

◆ KARTO_TYPE() [7/48]

karto::KARTO_TYPE ( Grid< kt_int8u > )

Register Grid<kt_int8u> with MetaClassManager

◆ KARTO_TYPE() [8/48]

karto::KARTO_TYPE ( LaserRangeFinder )

Register LaserRangeFinder with MetaClassManager

◆ KARTO_TYPE() [9/48]

karto::KARTO_TYPE ( LaserRangeScan )

Register LaserRangeScan with MetaClassManager

◆ KARTO_TYPE() [10/48]

karto::KARTO_TYPE ( LocalizedLaserScan )

Register LocalizedLaserScan with MetaClassManager

◆ KARTO_TYPE() [11/48]

karto::KARTO_TYPE ( LocalizedObject )

Register LocalizedObject with MetaClassManager

◆ KARTO_TYPE() [12/48]

karto::KARTO_TYPE ( LocalizedPointScan )

Register LocalizedPointScan with MetaClassManager

◆ KARTO_TYPE() [13/48]

karto::KARTO_TYPE ( LocalizedRangeScan )

Register LocalizedRangeScan with MetaClassManager

◆ KARTO_TYPE() [14/48]

karto::KARTO_TYPE ( Object )

Register Object with MetaClassManager

◆ KARTO_TYPE() [15/48]

karto::KARTO_TYPE ( OccupancyGrid )

Register OccupancyGrid with MetaClassManager

◆ KARTO_TYPE() [16/48]

karto::KARTO_TYPE ( Parameter< karto::Color > )

Register Parameter<karto::Color> with MetaClassManager

◆ KARTO_TYPE() [17/48]

karto::KARTO_TYPE ( Parameter< karto::gps::PointGps > )

Register Parameter<karto::gps::PointGps> with MetaClassManager

◆ KARTO_TYPE() [18/48]

karto::KARTO_TYPE ( Parameter< karto::Pose2 > )

Register Parameter<karto::Pose2> with MetaClassManager

◆ KARTO_TYPE() [19/48]

karto::KARTO_TYPE ( Parameter< karto::Pose3 > )

Register Parameter<karto::Pose3> with MetaClassManager

◆ KARTO_TYPE() [20/48]

karto::KARTO_TYPE ( Parameter< karto::Quaternion > )

Register Parameter<karto::Quaternion> with MetaClassManager

◆ KARTO_TYPE() [21/48]

karto::KARTO_TYPE ( Parameter< karto::Size2< kt_double > > )

Register Parameter<karto::Size2<kt_double> > with MetaClassManager

◆ KARTO_TYPE() [22/48]

karto::KARTO_TYPE ( Parameter< karto::Size2< kt_int32s > > )

Register Parameter<karto::Size2<kt_int32s> > with MetaClassManager

◆ KARTO_TYPE() [23/48]

karto::KARTO_TYPE ( Parameter< karto::Size2< kt_int32u > > )

Register Parameter<karto::Size2<kt_int32u> > with MetaClassManager

◆ KARTO_TYPE() [24/48]

karto::KARTO_TYPE ( Parameter< karto::String > )

Register Parameter<karto::String> with MetaClassManager

◆ KARTO_TYPE() [25/48]

karto::KARTO_TYPE ( Parameter< karto::Vector2< kt_double > > )

Register Parameter<karto::Vector2d> with MetaClassManager

◆ KARTO_TYPE() [26/48]

karto::KARTO_TYPE ( Parameter< karto::Vector2< kt_int32u > > )

Register Parameter<karto::Vector2iu> with MetaClassManager

◆ KARTO_TYPE() [27/48]

karto::KARTO_TYPE ( Parameter< karto::Vector2i > )

Register Parameter<karto::Vector2i> with MetaClassManager

◆ KARTO_TYPE() [28/48]

karto::KARTO_TYPE ( Parameter< karto::Vector3d > )

Register Parameter<karto::Vector3d> with MetaClassManager

◆ KARTO_TYPE() [29/48]

karto::KARTO_TYPE ( Parameter< karto::Vector3i > )

Register Parameter<karto::Vector3i> with MetaClassManager

◆ KARTO_TYPE() [30/48]

karto::KARTO_TYPE ( Parameter< karto::Vector3iu > )

Register Parameter<karto::Vector3iu> with MetaClassManager

◆ KARTO_TYPE() [31/48]

karto::KARTO_TYPE ( Parameter< karto::Vector4d > )

Register Parameter<karto::Vector4d> with MetaClassManager

◆ KARTO_TYPE() [32/48]

karto::KARTO_TYPE ( Parameter< karto::Vector4i > )

Register Parameter<karto::Vector4i> with MetaClassManager

◆ KARTO_TYPE() [33/48]

karto::KARTO_TYPE ( Parameter< karto::Vector4iu > )

Register Parameter<karto::Vector4iu> with MetaClassManager

◆ KARTO_TYPE() [34/48]

karto::KARTO_TYPE ( Parameter< kt_bool > )

Register Parameter<kt_bool> with MetaClassManager

◆ KARTO_TYPE() [35/48]

karto::KARTO_TYPE ( Parameter< kt_char > )

Register Parameter<kt_char> with MetaClassManager

◆ KARTO_TYPE() [36/48]

karto::KARTO_TYPE ( Parameter< kt_double > )

Register Parameter<kt_double> with MetaClassManager

◆ KARTO_TYPE() [37/48]

karto::KARTO_TYPE ( Parameter< kt_float > )

Register Parameter<kt_float> with MetaClassManager

◆ KARTO_TYPE() [38/48]

karto::KARTO_TYPE ( Parameter< kt_int16s > )

Register Parameter<kt_int16s> with MetaClassManager

◆ KARTO_TYPE() [39/48]

karto::KARTO_TYPE ( Parameter< kt_int16u > )

Register Parameter<kt_int16u> with MetaClassManager

◆ KARTO_TYPE() [40/48]

karto::KARTO_TYPE ( Parameter< kt_int32s > )

Register Parameter<kt_int32s> with MetaClassManager

◆ KARTO_TYPE() [41/48]

karto::KARTO_TYPE ( Parameter< kt_int32u > )

Register Parameter<kt_int32u> with MetaClassManager

◆ KARTO_TYPE() [42/48]

karto::KARTO_TYPE ( Parameter< kt_int64s > )

Register Parameter<kt_int64s> with MetaClassManager

◆ KARTO_TYPE() [43/48]

karto::KARTO_TYPE ( Parameter< kt_int64u > )

Register Parameter<kt_int64u> with MetaClassManager

◆ KARTO_TYPE() [44/48]

karto::KARTO_TYPE ( Parameter< kt_int8s > )

Register Parameter<kt_int8s> with MetaClassManager

◆ KARTO_TYPE() [45/48]

karto::KARTO_TYPE ( Parameter< kt_int8u > )

Register Parameter<kt_int8u> with MetaClassManager

◆ KARTO_TYPE() [46/48]

karto::KARTO_TYPE ( ParameterEnum )

Register ParameterEnum with MetaClassManager

◆ KARTO_TYPE() [47/48]

karto::KARTO_TYPE ( Sensor )

Register Sensor with MetaClassManager

◆ KARTO_TYPE() [48/48]

karto::KARTO_TYPE ( SensorData )

Register SensorData with MetaClassManager

◆ Log()

KARTO_EXPORT void karto::Log	(	LogLevel	level,
		const karto::String &	rMessage
	)

Logs a message with the specified log level. Wrapper for Poco logging. Check if OpenKarto is compiled with POCO with USE_POCO=1.

Note: All releases of Karto from SRI International are compiled with POCO. If you are manually compiling OpenKarto and don't include POCO, logging is not functional!

Parameters

level	log level
rMessage	message

Definition at line 183 of file Logger.cpp.

◆ RegisterLaserRangeFinderType()

void karto::RegisterLaserRangeFinderType ( )

LaserRangeFinderType auto register callback function

Definition at line 34 of file Sensor.cpp.

◆ SetLogLevel()

KARTO_EXPORT void karto::SetLogLevel ( LogLevel level )

Sets the log level

Parameters

level new log level

Definition at line 165 of file Logger.cpp.

◆ TerminateLogger()

void karto::TerminateLogger ( )

Definition at line 228 of file Logger.cpp.

Variable Documentation

◆ KT_180_PI

const kt_double karto::KT_180_PI = 57.29577951308232087685

180 / PI

Definition at line 63 of file Math.h.

◆ KT_2PI

const kt_double karto::KT_2PI = 6.28318530717958647692

2 * PI

Definition at line 48 of file Math.h.

◆ KT_PI

const kt_double karto::KT_PI = 3.14159265358979323846

Platform independent pi definitions PI

Definition at line 43 of file Math.h.

◆ KT_PI_180

const kt_double karto::KT_PI_180 = 0.01745329251994329577

PI / 180

Definition at line 58 of file Math.h.

◆ KT_PI_2

const kt_double karto::KT_PI_2 = 1.57079632679489661923

PI / 2

Definition at line 53 of file Math.h.

◆ KT_TOLERANCE

const kt_double karto::KT_TOLERANCE = 1e-06

Karto tolerance level

Definition at line 71 of file Math.h.

◆ LogMessage

KARTO_EXPORT BasicEvent< LogMessageArguments > karto::LogMessage

Log message event

Definition at line 44 of file Logger.cpp.

◆ ObjectType_Camera

const kt_objecttype karto::ObjectType_Camera = ObjectType_Sensor | 0x04

Karto camera object type

Definition at line 241 of file Object.h.

◆ ObjectType_CameraImage

const kt_objecttype karto::ObjectType_CameraImage = ObjectType_SensorData | 0x40

Karto camera image object type

Definition at line 286 of file Object.h.

◆ ObjectType_CustomItem

const kt_objecttype karto::ObjectType_CustomItem = 0x00004000

Karto custom item object type

Definition at line 206 of file Object.h.

◆ ObjectType_DatasetInfo

const kt_objecttype karto::ObjectType_DatasetInfo = ObjectType_Object | 0x02

Karto dataset info object type

Definition at line 316 of file Object.h.

◆ ObjectType_DatasetObjectMessage

const kt_objecttype karto::ObjectType_DatasetObjectMessage = ObjectType_Message | 0x10

Karto dataset object message object type

Definition at line 351 of file Object.h.

◆ ObjectType_DefaultCustomItem

const kt_objecttype karto::ObjectType_DefaultCustomItem = ObjectType_CustomItem | 0x01

Karto default custom item object type

Definition at line 276 of file Object.h.

◆ ObjectType_DoubleMessage

const kt_objecttype karto::ObjectType_DoubleMessage = ObjectType_Message | 0x04

Karto double message object type

Definition at line 341 of file Object.h.

◆ ObjectType_Drive

const kt_objecttype karto::ObjectType_Drive = ObjectType_Sensor | 0x01

Karto drive object type

Definition at line 231 of file Object.h.

◆ ObjectType_DrivePose

const kt_objecttype karto::ObjectType_DrivePose = ObjectType_SensorData | 0x01

Karto drive pose object type

Definition at line 246 of file Object.h.

◆ ObjectType_Grid

const kt_objecttype karto::ObjectType_Grid = 0x00008000

Karto grid object type

Definition at line 211 of file Object.h.

◆ ObjectType_Header

const kt_objecttype karto::ObjectType_Header = ObjectType_Misc | 0x01

Karto header object type

Definition at line 301 of file Object.h.

◆ ObjectType_Image

const kt_objecttype karto::ObjectType_Image = ObjectType_Misc | 0x02

Karto header object type

Definition at line 306 of file Object.h.

◆ ObjectType_Int32sMessage

const kt_objecttype karto::ObjectType_Int32sMessage = ObjectType_Message | 0x01

Karto int32s message object type

Definition at line 331 of file Object.h.

◆ ObjectType_Int64sMessage

const kt_objecttype karto::ObjectType_Int64sMessage = ObjectType_Message | 0x02

Karto int64s message object type

Definition at line 336 of file Object.h.

◆ ObjectType_LaserRangeFinder

const kt_objecttype karto::ObjectType_LaserRangeFinder = ObjectType_Sensor | 0x02

Karto laser range finder object type

Definition at line 236 of file Object.h.

◆ ObjectType_LaserRangeScan

const kt_objecttype karto::ObjectType_LaserRangeScan = ObjectType_SensorData | 0x02

Karto laser range scan object type

Definition at line 251 of file Object.h.

◆ ObjectType_LocalizedLaserScan

const kt_objecttype karto::ObjectType_LocalizedLaserScan = ObjectType_SensorData | 0x20

Karto localized laser scan object type

Definition at line 271 of file Object.h.

◆ ObjectType_LocalizedObject

const kt_objecttype karto::ObjectType_LocalizedObject = ObjectType_SensorData | 0x04

Karto localized object object type

Definition at line 256 of file Object.h.

◆ ObjectType_LocalizedPointScan

const kt_objecttype karto::ObjectType_LocalizedPointScan = ObjectType_SensorData | 0x10

Karto localized point scan object type

Definition at line 266 of file Object.h.

◆ ObjectType_LocalizedRangeScan

const kt_objecttype karto::ObjectType_LocalizedRangeScan = ObjectType_SensorData | 0x08

Karto localized range scan object type

Definition at line 261 of file Object.h.

◆ ObjectType_Message

const kt_objecttype karto::ObjectType_Message = 0x00010000

Karto message object type

Definition at line 216 of file Object.h.

◆ ObjectType_Misc

const kt_objecttype karto::ObjectType_Misc = 0x10000000

Karto misc object type

Definition at line 226 of file Object.h.

◆ ObjectType_Module

const kt_objecttype karto::ObjectType_Module = ObjectType_Object | 0x04

Karto module object type

Definition at line 321 of file Object.h.

◆ ObjectType_ModuleParameters

const kt_objecttype karto::ObjectType_ModuleParameters = ObjectType_Object | 0x01

Karto parameters object type

Definition at line 311 of file Object.h.

◆ ObjectType_None

const kt_objecttype karto::ObjectType_None = 0x00000000

Karto object type

Definition at line 191 of file Object.h.

◆ ObjectType_Object

const kt_objecttype karto::ObjectType_Object = 0x00020000

Karto object object type

Definition at line 221 of file Object.h.

◆ ObjectType_OccupancyGrid

const kt_objecttype karto::ObjectType_OccupancyGrid = ObjectType_Grid | 0x01

Karto occupancy grid object type

Definition at line 291 of file Object.h.

◆ ObjectType_OccupancyGridTile

const kt_objecttype karto::ObjectType_OccupancyGridTile = ObjectType_Grid | 0x02

Karto occupancy grid tile object type

Definition at line 296 of file Object.h.

◆ ObjectType_Rfid

const kt_objecttype karto::ObjectType_Rfid = ObjectType_CustomItem | 0x02

Karto rfid object type

Definition at line 281 of file Object.h.

◆ ObjectType_ScansPoseUpdateMessage

const kt_objecttype karto::ObjectType_ScansPoseUpdateMessage = ObjectType_Message | 0x20

Karto scans pose update message object type

Definition at line 356 of file Object.h.

◆ ObjectType_Sensor

const kt_objecttype karto::ObjectType_Sensor = 0x00001000

Karto sensor object type

Definition at line 196 of file Object.h.

◆ ObjectType_SensorData

const kt_objecttype karto::ObjectType_SensorData = 0x00002000

Karto sensor data object type

Definition at line 201 of file Object.h.

◆ ObjectType_StringMessage

const kt_objecttype karto::ObjectType_StringMessage = ObjectType_Message | 0x08

Karto string message object type

Definition at line 346 of file Object.h.

◆ ObjectType_TiledOccupancyGrid

const kt_objecttype karto::ObjectType_TiledOccupancyGrid = ObjectType_Object | 0x08

Karto tiled occupancy grid object type

Definition at line 326 of file Object.h.

◆ s_FileLoggingEnabled

kt_bool karto::s_FileLoggingEnabled = false

static

Definition at line 41 of file Logger.cpp.

◆ s_LogLevel

LogLevel karto::s_LogLevel = LOG_NONE

static

Definition at line 42 of file Logger.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ DatasetPtr

◆ DoubleList

◆ EnumPairList

◆ LaserRangeFinderPtr

◆ LocalizedLaserScanList

◆ LocalizedLaserScanPtr

◆ LocalizedObjectList

◆ LocalizedObjectPtr

◆ LocalizedRangeScanVector

◆ ObjectList

◆ ObjectPtr

◆ ObjectVector

◆ OccupancyGridPtr

◆ ParameterList

◆ ParameterSetPtr

◆ Pose2List

◆ Pose2Vector

◆ RangeReadingsList

◆ RangeReadingsVector

◆ SensorDataManagerMap

◆ SensorList

◆ SensorPtr

◆ Vector2d

◆ Vector2dList

◆ Vector2dVector

◆ Vector2i

◆ Vector2iu

◆ Vector3d

◆ Vector3i

◆ Vector3iu

◆ Vector4d

◆ Vector4i

◆ Vector4iu

Enumeration Type Documentation

◆ GridStates

◆ LaserRangeFinderType

◆ LogLevel

◆ ParameterFlags

Function Documentation

◆ any_cast() [1/3]

◆ any_cast() [2/3]

◆ any_cast() [3/3]

◆ CheckTypeRegistered()

◆ delegate() [1/5]

◆ delegate() [2/5]

◆ delegate() [3/5]

◆ delegate() [4/5]

◆ delegate() [5/5]

◆ FromString()

◆ GetLogLevel()

◆ GetMetaClassByIndex()

◆ GetMetaClassByName()

◆ GetMetaClassByObject()

◆ GetMetaClassByType()

◆ GetMetaEnumByIndex()

◆ GetMetaEnumByName()

◆ GetMetaEnumByObject()

◆ GetMetaEnumByType()

◆ GetRegisteredMetaClassSize()

◆ GetRegisteredMetaEnumSize()

◆ InitializeLogger()

◆ InitializeOpenKartoMetaClasses()

◆ IsLocalizedLaserScan()

◆ KARTO_AUTO_TYPE()

◆ KARTO_TYPE() [1/48]

◆ KARTO_TYPE() [2/48]

◆ KARTO_TYPE() [3/48]

◆ KARTO_TYPE() [4/48]

◆ KARTO_TYPE() [5/48]

◆ KARTO_TYPE() [6/48]

◆ KARTO_TYPE() [7/48]

◆ KARTO_TYPE() [8/48]

◆ KARTO_TYPE() [9/48]