Revision: 6822
http://playerstage.svn.sourceforge.net/playerstage/?rev=6822&view=rev
Author: jeremy_asher
Date: 2008-07-08 16:04:20 -0700 (Tue, 08 Jul 2008)
Log Message:
-----------
Interface cleanup, documentation work
Modified Paths:
--------------
code/stage/trunk/docsrc/header.html
code/stage/trunk/docsrc/stage.dox
code/stage/trunk/libstage/option.hh
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/docsrc/header.html
===================================================================
--- code/stage/trunk/docsrc/header.html 2008-07-08 22:41:27 UTC (rev 6821)
+++ code/stage/trunk/docsrc/header.html 2008-07-08 23:04:20 UTC (rev 6822)
@@ -123,6 +123,7 @@
<li class=menu><a href="group__model.html">Model</a>
<ul class=menu1>
<li class=menu><a href="group__model__blobfinder.html">blobfinder</a></li>
+<li class=menu><a href="group__model__camera.html">camera</a></li>
<li class=menu><a href="group__model__fiducial.html">fiducial</a></li>
<li class=menu><a href="group__model__laser.html">laser</a></li>
<li class=menu><a href="group__model__position.html">position</a></li>
@@ -131,6 +132,7 @@
TODO
<li class=menu><a href="group__model__gripper.html">gripper</a></li>
<li class=menu><a href="group__model__bumper.html">bumper</a></li>
+<li class=menu><a href="group__model__blinkenlight.html">blinkenlight</a></li>
-->
</ul>
Modified: code/stage/trunk/docsrc/stage.dox
===================================================================
--- code/stage/trunk/docsrc/stage.dox 2008-07-08 22:41:27 UTC (rev 6821)
+++ code/stage/trunk/docsrc/stage.dox 2008-07-08 23:04:20 UTC (rev 6822)
@@ -264,7 +264,7 @@
# If set to NO (the default) these declarations will be included in the
# documentation.
-HIDE_FRIEND_COMPOUNDS = NO
+HIDE_FRIEND_COMPOUNDS = YES
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
# documentation blocks found inside the body of a function.
Modified: code/stage/trunk/libstage/option.hh
===================================================================
--- code/stage/trunk/libstage/option.hh 2008-07-08 22:41:27 UTC (rev 6821)
+++ code/stage/trunk/libstage/option.hh 2008-07-08 23:04:20 UTC (rev 6822)
@@ -1,12 +1,3 @@
-/** option.hh
- Class that encapsulates a boolean and pairs it with a string description
- Used to pass settings between the GUI and the drawing classes
-
- Author: Jeremy Asher, Richard Vaughan
- SVN: $Id$
-*/
-
-
#ifndef _OPTION_H_
#define _OPTION_H_
@@ -17,7 +8,13 @@
#include <FL/Fl_Menu_Item.H>
namespace Stg {
-
+ /** option.hh
+ Class that encapsulates a boolean and pairs it with a string
description
+ Used to pass settings between the GUI and the drawing classes
+
+ Author: Jeremy Asher, Richard Vaughan
+ SVN: $Id$
+ */
class Option {
private:
friend bool compare( const Option* lhs, const Option* rhs );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-07-08 22:41:27 UTC (rev 6821)
+++ code/stage/trunk/libstage/stage.hh 2008-07-08 23:04:20 UTC (rev 6822)
@@ -890,10 +890,10 @@
this->token = strdup( str );
}
- // PURE VIRTUAL - descendents must implement
- virtual void PushColor( stg_color_t col ) = 0;
- virtual void PushColor( double r, double g, double b, double a ) = 0;
- virtual void PopColor() = 0; // does nothing
+// // PURE VIRTUAL - descendents must implement
+// virtual void PushColor( stg_color_t col ) = 0;
+// virtual void PushColor( double r, double g, double b, double a ) = 0;
+// virtual void PopColor() = 0; // does nothing
};
@@ -959,19 +959,15 @@
class Region;
class SuperRegion;
-/** WORLD CLASS */
+/// StgWorld class
class StgWorld : public StgAncestor
{
friend class StgModel; // allow access to private members
friend class StgBlock;
friend class StgTime;
- friend class StgCanvas;
-
-public:
- static void UpdateAll();
+ friend class StgCanvas;
private:
-
static GList* world_list;
/** Update all existing worlds */
@@ -990,7 +986,7 @@
// convert a distance in meters to a distance in world occupancy grid
pixels
int32_t MetersToPixels( stg_meters_t x ){ return (int32_t)floor(x *
ppm) ; };
- void Initialize( const char* token,
+ void Initialize( const char* token,
stg_msec_t interval_sim,
double ppm );
@@ -1015,7 +1011,6 @@
bool dirty; ///< iff true, a gui redraw would be required
-
int total_subs; ///< the total number of subscriptions to all models
double ppm; ///< the resolution of the world model in pixels per meter
@@ -1074,10 +1069,13 @@
void ClearRays();
long unsigned int updates; ///< the number of simulated time steps
executed so far
+
+ FileManager* fileMan;
public:
- static const int DEFAULT_PPM = 50; // default resolution in pixels per meter
- static const stg_msec_t DEFAULT_INTERVAL_SIM = 100; ///< duration of sim
timestep
+ static const int DEFAULT_PPM = 50; // default resolution in pixels per
meter
+ static const stg_msec_t DEFAULT_INTERVAL_SIM = 100; ///< duration of
sim timestep
+ static void UpdateAll();
StgWorld( const char* token = "MyWorld",
stg_msec_t interval_sim = DEFAULT_INTERVAL_SIM,
@@ -1085,13 +1083,11 @@
virtual ~StgWorld();
- FileManager* fileMan;
-
- stg_usec_t SimTimeNow(void){ return sim_time;} ;
+ stg_usec_t SimTimeNow(void){ return sim_time; }
stg_usec_t RealTimeNow(void);
stg_usec_t RealTimeSinceStart(void);
- //void PauseUntilNextUpdateTime(void);
- // void IdleUntilNextUpdateTime( int (*idler)(void) );
+// void PauseUntilNextUpdateTime(void);
+// void IdleUntilNextUpdateTime( int (*idler)(void) );
void AddBlock( StgBlock* block );
void RemoveBlock( StgBlock* block );
@@ -1112,28 +1108,27 @@
void CancelQuit(){ quit = false; }
void CancelQuitAll(){ quit_all = false; }
- /** Get the resolution in pixels-per-metre of the underlying
+ /** Get the resolution in pixels-per-metre of the underlying
discrete raytracing model */
double Resolution(){ return ppm; };
- /** Returns a pointer to the model identified by ID, or NULL if
+ /** Returns a pointer to the model identified by ID, or NULL if
nonexistent */
- //StgModel* GetModel( const stg_id_t id );
+ //StgModel* GetModel( const stg_id_t id );
- /** Returns a pointer to the model identified by name, or NULL if
+ /** Returns a pointer to the model identified by name, or NULL if
nonexistent */
StgModel* GetModel( const char* name );
- /** Return the 3D bounding box of the world, in meters */
- stg_bounds3d_t GetExtent(){ return extent; };
+ /** Return the 3D bounding box of the world, in meters */
+ stg_bounds3d_t GetExtent(){ return extent; };
- /** call func( model, arg ) for each model in the world */
+ /** call func( model, arg ) for each model in the world */
void ForEachModel( GHFunc func, void* arg )
{ g_hash_table_foreach( models_by_name, func, arg ); };
- /** Return the number of times the world has been updated. */
- long unsigned int GetUpdateCount()
- { return updates; }
+ /** Return the number of times the world has been updated. */
+ long unsigned int GetUpdateCount() { return updates; }
};
@@ -1146,33 +1141,26 @@
typedef int ctrlinit_t( StgModel* mod );
//typedef void ctrlupdate_t( StgModel* mod );
-// MODEL CLASS
+/// StgModel class
class StgModel : public StgAncestor
{
friend class StgAncestor;
friend class StgWorld;
friend class StgWorldGui;
friend class StgCanvas;
+ friend class StgBlock;
private:
- /** the number of models instatiated - used to assign unique IDs */
- static uint32_t count;
- static GHashTable* modelsbyid;
-
- std::vector<Option*> drawOptions;
+ /** the number of models instatiated - used to assign unique IDs */
+ static uint32_t count;
+ static GHashTable* modelsbyid;
+ /** unique process-wide identifier for this model */
+ uint32_t id;
+ std::vector<Option*> drawOptions;
+ const std::vector<Option*>& getOptions() const { return drawOptions; }
-public:
- /** Look up a model pointer by a unique model ID */
- static StgModel* LookupId( uint32_t id )
- {
- return (StgModel*)g_hash_table_lookup( modelsbyid, (void*)id );
- }
-
- /** unique process-wide identifier for this model */
- uint32_t id;
-
protected:
- stg_pose_t pose;
+ stg_pose_t pose;
stg_velocity_t velocity;
stg_watts_t watts; //< power consumed by this model
stg_color_t color;
@@ -1222,7 +1210,7 @@
stg_bool_t disabled; //< if non-zero, the model is disabled
- // GList* d_list;
+// GList* d_list;
GList* blocks; //< list of stg_block_t structs that comprise a body
GArray* trail;
@@ -1244,25 +1232,21 @@
StgWorld* world; // pointer to the world in which this model exists
- /** Check to see if the given change in pose will yield a collision
+ /** Check to see if the given change in pose will yield a collision
with obstacles. Returns a pointer to the first entity we are in
collision with, and stores the location of the hit in hitx,hity
(if
non-null) Returns NULL if no collision. */
- StgModel* TestCollision( stg_pose_t pose,
+ StgModel* TestCollision( stg_pose_t pose,
stg_meters_t* hitx,
stg_meters_t* hity );
-
- /** Check to see if the current pose is in a collision
+
+ /** Check to see if the current pose is in a collision
with obstacles. Returns a pointer to the first entity we are in
collision with, and stores the location of the hit in hitx,hity
(if
non-null) Returns NULL if no collision. */
- StgModel* TestCollision( stg_meters_t* hitx,
+ StgModel* TestCollision( stg_meters_t* hitx,
stg_meters_t* hity );
-public: void PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax,
-
stg_meters_t ymin, stg_meters_t ymax );
-
-protected:
void Map();
void UnMap();
@@ -1271,7 +1255,6 @@
int TreeToPtrArray( GPtrArray* array );
-
/** raytraces a single ray from the point and heading identified by
pose, in local coords */
void Raytrace( stg_pose_t pose,
@@ -1324,8 +1307,8 @@
virtual void DrawStatus( StgCanvas* canvas );
void DrawStatusTree( StgCanvas* canvas );
- void PushLocalCoords();
- void PopCoords();
+ void PushLocalCoords();
+ void PopCoords();
///Draw the image stored in texture_id above the model
void DrawImage( uint32_t texture_id, Stg::StgCanvas* canvas, float
alpha );
@@ -1347,195 +1330,194 @@
void DrawGrid();
void UpdateIfDue();
- /* hooks for attaching special callback functions (not used as
+ /* hooks for attaching special callback functions (not used as
variables) */
- char startup_hook, shutdown_hook, load_hook, save_hook, update_hook;
-
- ctrlinit_t* initfunc;
-
- GList* flag_list;
-
- Worldfile* wf;
- int wf_entity;
-
- GPtrArray* blinkenlights;
- void DrawBlinkenlights();
+ char startup_hook, shutdown_hook, load_hook, save_hook, update_hook;
- /** OpenGL display list identifier */
- int blocks_dl;
+ ctrlinit_t* initfunc;
- /** Compile the display list for this model */
- //void BuildDisplayList();
-
- stg_model_type_t type;
+ GList* flag_list;
- void DataVisualizeTree();
+ Worldfile* wf;
+ int wf_entity;
-public:
+ GPtrArray* blinkenlights;
+ void DrawBlinkenlights();
- static const char* typestr;
+ /** OpenGL display list identifier */
+ int blocks_dl;
- // constructor
- StgModel( StgWorld* world, StgModel* parent, stg_model_type_t type =
MODEL_TYPE_PLAIN );
+ /** Compile the display list for this model */
+ //void BuildDisplayList();
- // destructor
- virtual ~StgModel();
+ stg_model_type_t type;
+ static const char* typestr;
+ void DataVisualizeTree();
+
+ virtual void PushColor( stg_color_t 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(); }
+
+ void DrawFlagList();
+public:
+ void PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax,
+ stg_meters_t ymin,
stg_meters_t ymax );
+
+ /** Look up a model pointer by a unique model ID */
+ static StgModel* LookupId( uint32_t id )
+ { return (StgModel*)g_hash_table_lookup( modelsbyid, (void*)id ); }
+
+ StgModel( StgWorld* world, StgModel* parent, stg_model_type_t type =
MODEL_TYPE_PLAIN );
+ virtual ~StgModel();
+
void Say( const char* str );
-
- /** Set the worldfile and worldfile entity ID - must be called
- before Load() */
- void Load( Worldfile* wf, int wf_entity )
- {
- SetWorldfile( wf, wf_entity );
- Load(); // call virtual load
- }
-
- /** Set the worldfile and worldfile entity ID */
- void SetWorldfile( Worldfile* wf, int wf_entity )
- { this->wf = wf; this->wf_entity = wf_entity; }
-
- /** configure a model by reading from the current world file */
- virtual void Load();
-
+
+ void Load( Worldfile* wf, int wf_entity )
+ {
+ /** Set the worldfile and worldfile entity ID - must be called
+ before Load() */
+ SetWorldfile( wf, wf_entity );
+ Load(); // call virtual load
+ }
+
+ /** Set the worldfile and worldfile entity ID */
+ void SetWorldfile( Worldfile* wf, int wf_entity )
+ { this->wf = wf; this->wf_entity = wf_entity; }
+
+ /** configure a model by reading from the current world file */
+ virtual void Load();
+
/** save the state of the model to the current world file */
virtual void Save();
-
+
/** Should be called after all models are loaded, to do any last-minute
setup */
void Init();
-
-
+
void AddFlag( StgFlag* flag );
void RemoveFlag( StgFlag* flag );
-
+
void PushFlag( StgFlag* flag );
StgFlag* PopFlag();
-
+
int GetFlagCount(){ return g_list_length( flag_list ); }
- void DrawFlagList();
-
void AddBlinkenlight( stg_blinkenlight_t* b )
{
g_ptr_array_add( this->blinkenlights, b );
}
-
+
void ClearBlinkenlights()
{
g_ptr_array_set_size( this->blinkenlights, 0 );
}
-
- virtual void PushColor( stg_color_t 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(); }
-
+
void Enable(){ disabled = false; };
void Disable(){ disabled = true; };
-
+
// Load a control program for this model from an external library
void LoadControllerModule( char* lib );
-
+
// call this to ensure the GUI window is redrawn
void NeedRedraw();
-
+
void AddBlock( stg_point_t* pts,
- size_t pt_count,
- stg_meters_t zmin,
- stg_meters_t zmax,
- stg_color_t color,
- bool inherit_color );
-
+ size_t pt_count,
+ stg_meters_t zmin,
+ stg_meters_t zmax,
+ stg_color_t color,
+ bool inherit_color );
+
void AddBlockRect( double x, double y,
- double width, double height );
-
+ double width, double height );
+
/** remove all blocks from this model, freeing their memory */
void ClearBlocks();
-
- //const char* TypeStr(){ return this->typestr; }
+
+ //const char* TypeStr(){ return this->typestr; }
StgModel* Parent(){ return this->parent; }
StgModel* GetModel( const char* name );
- bool Stall(){ return this->stall; }
int GuiMask(){ return this->gui_mask; };
inline StgWorld* GetWorld(){ return this->world; }
-
+
/// return the root model of the tree containing this model
StgModel* Root()
{ return( parent ? parent->Root() : this ); }
-
+
bool ObstacleReturn(){ return obstacle_return; }
stg_laser_return_t GetLaserReturn(){ return laser_return; }
int GetRangerReturn(){ return ranger_return; }
int FiducialReturn(){ return fiducial_return; }
int FiducialKey(){ return fiducial_key; }
-
+
bool IsAntecedent( StgModel* testmod );
-
+
// returns true if model [testmod] is a descendent of model [mod]
bool IsDescendent( StgModel* testmod );
-
+
bool IsRelated( StgModel* mod2 );
-
+
/** get the pose of a model in the global CS */
stg_pose_t GetGlobalPose();
-
+
/** get the velocity of a model in the global CS */
stg_velocity_t GetGlobalVelocity();
-
+
/* set the velocity of a model in the global coordinate system */
void SetGlobalVelocity( stg_velocity_t gvel );
-
+
/** subscribe to a model's data */
void Subscribe();
-
+
/** unsubscribe from a model's data */
void Unsubscribe();
-
+
/** set the pose of model in global coordinates */
void SetGlobalPose( stg_pose_t gpose );
-
+
/** set a model's velocity in its parent's coordinate system */
void SetVelocity( stg_velocity_t vel );
-
+
/** set a model's pose in its parent's coordinate system */
void SetPose( stg_pose_t pose );
-
+
/** add values to a model's pose in its parent's coordinate system */
void AddToPose( stg_pose_t pose );
-
+
/** add values to a model's pose in its parent's coordinate system */
void AddToPose( double dy, double dy, double dz, double da );
-
+
/** set a model's geometry (size and center offsets) */
void SetGeom( stg_geom_t src );
-
+
/** set a model's geometry (size and center offsets) */
void SetFiducialReturn( int fid );
-
+
/** set a model's fiducial key: only fiducial finders with a
- matching key can detect this model as a fiducial. */
+ matching key can detect this model as a fiducial. */
void SetFiducialKey( int key );
-
+
stg_color_t GetColor(){ return color; }
-
+
// stg_laser_return_t GetLaserReturn(){ return laser_return; }
-
+
/** Change a model's parent - experimental*/
int SetParent( StgModel* newparent);
-
+
/** Get a model's geometry - it's size and local pose (offset from
- origin in local coords) */
+ origin in local coords) */
stg_geom_t GetGeom(){ return geom; }
-
+
/** Get the pose of a model in its parent's coordinate system */
stg_pose_t GetPose(){ return pose; }
-
+
/** Get a model's velocity (in its local reference frame) */
stg_velocity_t GetVelocity(){ return velocity; }
-
+
// guess what these do?
void SetColor( stg_color_t col );
void SetMass( stg_kg_t mass );
@@ -1552,82 +1534,82 @@
void SetGuiOutline( int val );
void SetWatts( stg_watts_t watts );
void SetMapResolution( stg_meters_t res );
-
+
bool DataIsFresh(){ return this->data_fresh; }
-
+
/* attach callback functions to data members. The function gets
- called when the member is changed using SetX() accessor method */
-
+ called when the member is changed using SetX() accessor method */
+
void AddCallback( void* address,
- stg_model_callback_t cb,
- void* user );
-
+ stg_model_callback_t cb,
+ void* user );
+
int RemoveCallback( void* member,
- stg_model_callback_t callback );
-
+ stg_model_callback_t callback );
+
void CallCallbacks( void* address );
-
+
/* wrappers for the generic callback add & remove functions that hide
- some implementation detail */
-
+ some implementation detail */
+
void AddStartupCallback( stg_model_callback_t cb, void* user )
{ AddCallback( &startup_hook, cb, user ); };
-
+
void RemoveStartupCallback( stg_model_callback_t cb )
{ RemoveCallback( &startup_hook, cb ); };
-
+
void AddShutdownCallback( stg_model_callback_t cb, void* user )
{ AddCallback( &shutdown_hook, cb, user ); };
-
+
void RemoveShutdownCallback( stg_model_callback_t cb )
{ RemoveCallback( &shutdown_hook, cb ); }
-
+
void AddLoadCallback( stg_model_callback_t cb, void* user )
{ AddCallback( &load_hook, cb, user ); }
-
+
void RemoveLoadCallback( stg_model_callback_t cb )
{ RemoveCallback( &load_hook, cb ); }
-
+
void AddSaveCallback( stg_model_callback_t cb, void* user )
{ AddCallback( &save_hook, cb, user ); }
-
+
void RemoveSaveCallback( stg_model_callback_t cb )
{ RemoveCallback( &save_hook, cb ); }
-
+
void AddUpdateCallback( stg_model_callback_t cb, void* user )
{ AddCallback( &update_hook, cb, user ); }
-
+
void RemoveUpdateCallback( stg_model_callback_t cb )
{ RemoveCallback( &update_hook, cb ); }
-
+
/** named-property interface
*/
void* GetProperty( char* key );
-
+
/** @brief Set a named property of a Stage model.
-
- Set a property of a Stage model.
-
- This function can set both predefined and user-defined
- properties of a model. Predefined properties are intrinsic to
- every model, such as pose and color. Every supported predefined
- properties has its identifying string defined as a preprocessor
- macro in stage.h. Users should use the macro instead of a
- hard-coded string, so that the compiler can help you to avoid
- mis-naming properties.
-
- User-defined properties allow the user to attach arbitrary data
- pointers to a model. User-defined property data is not copied,
- so the original pointer must remain valid. User-defined property
- names are simple strings. Names beginning with an underscore
- ('_') are reserved for internal libstage use: users should not
- use names beginning with underscore (at risk of causing very
- weird behaviour).
-
- Any callbacks registered for the named property will be called.
-
- Returns 0 on success, or a positive error code on failure.
-
+
+ Set a property of a Stage model.
+
+ This function can set both predefined and user-defined
+ properties of a model. Predefined properties are intrinsic to
+ every model, such as pose and color. Every supported predefined
+ properties has its identifying string defined as a preprocessor
+ macro in stage.h. Users should use the macro instead of a
+ hard-coded string, so that the compiler can help you to avoid
+ mis-naming properties.
+
+ User-defined properties allow the user to attach arbitrary data
+ pointers to a model. User-defined property data is not copied,
+ so the original pointer must remain valid. User-defined property
+ names are simple strings. Names beginning with an underscore
+ ('_') are reserved for internal libstage use: users should not
+ use names beginning with underscore (at risk of causing very
+ weird behaviour).
+
+ Any callbacks registered for the named property will be called.
+
+ Returns 0 on success, or a positive error code on failure.
+
*CAUTION* The caller is responsible for making sure the pointer
points to data of the correct type for the property, so use
carefully. Check the docs or the equivalent
@@ -1636,118 +1618,117 @@
*/
int SetProperty( char* key, void* data );
void UnsetProperty( char* key );
-
-
+
void AddPropertyToggles( void* member,
- stg_model_callback_t callback_on,
- void* arg_on,
- stg_model_callback_t callback_off,
- void* arg_off,
- char* name,
- char* label,
- gboolean enabled );
-
+ stg_model_callback_t
callback_on,
+ void* arg_on,
+ stg_model_callback_t
callback_off,
+ void* arg_off,
+ char* name,
+ char* label,
+ gboolean enabled );
+
virtual void Print( char* prefix );
virtual const char* PrintWithPose();
-
+
/** Convert a pose in the world coordinate system into a model's
- local coordinate system. Overwrites [pose] with the new
- coordinate. */
+ local coordinate system. Overwrites [pose] with the new
+ coordinate. */
void GlobalToLocal( stg_pose_t* pose );
-
+
/** Convert a pose in the model's local coordinate system into the
- world coordinate system. Overwrites [pose] with the new
- coordinate. */
+ world coordinate system. Overwrites [pose] with the new
+ coordinate. */
//void LocalToGlobal( stg_pose_t* pose );
-
+
/** Return the global pose (i.e. pose in world coordinates) of a
- pose specified in the model's local coordinate system */
+ pose specified in the model's local coordinate system */
stg_pose_t LocalToGlobal( stg_pose_t pose );
-
+
/** Return the 3d point in world coordinates of a 3d point
- specified in the model's local coordinate system */
+ specified in the model's local coordinate system */
stg_point3_t LocalToGlobal( stg_point3_t local );
-
+
/** returns the first descendent of this model that is unsubscribed
- and has the type indicated by the string */
+ and has the type indicated by the string */
StgModel* GetUnsubscribedModelOfType( stg_model_type_t type );
-
+
// iff true, model may output some debugging visualizations and other
info
//bool debug;
- const std::vector<Option*>& getOptions() const { return drawOptions; }
+ bool stalled(){ return this->stall; }
};
// BLOCKS
class StgBlock
{
- public:
+public:
- /** Block Constructor. A model's body is a list of these
- blocks. The point data is copied, so pts can safely be freed
- after constructing the block.*/
- StgBlock( StgModel* mod,
- stg_point_t* pts,
- size_t pt_count,
- stg_meters_t height,
- stg_meters_t z_offset,
- stg_color_t color,
- bool inherit_color );
+ /** Block Constructor. A model's body is a list of these
+ blocks. The point data is copied, so pts can safely be freed
+ after constructing the block.*/
+ StgBlock( StgModel* mod,
+ stg_point_t* pts,
+ size_t pt_count,
+ stg_meters_t height,
+ stg_meters_t z_offset,
+ stg_color_t color,
+ bool inherit_color );
- ~StgBlock();
+ ~StgBlock();
- void Map();
- void UnMap(); // draw the block into the world
+ void Map();
+ void UnMap(); // draw the block into the world
- void DrawGlobal(); // draw the block in OpenGL using pts_global
coords
- void Draw(); // draw the block in OpenGL
- //void Draw2D(); // draw the block in OpenGL
- void DrawSolid(); // draw the block in OpenGL as a solid single
color
- void DrawFootPrint(); // draw the projection of the block onto
the z=0 plane
+ void DrawGlobal(); // draw the block in OpenGL using pts_global coords
+ void Draw(); // draw the block in OpenGL
+ //void Draw2D(); // draw the block in OpenGL
+ void DrawSolid(); // draw the block in OpenGL as a solid single color
+ void DrawFootPrint(); // draw the projection of the block onto the z=0
plane
- static void ScaleList( GList* blocks, stg_size_t* size );
- void RecordRenderPoint( GSList** head, GSList* link, unsigned
int* c1, unsigned int* c2 );
+ static void ScaleList( GList* blocks, stg_size_t* size );
+ void RecordRenderPoint( GSList** head, GSList* link, unsigned int* c1,
unsigned int* c2 );
- StgModel* Model(){ return mod; };
+ StgModel* Model(){ return mod; };
- stg_point_t* Points( unsigned int *count )
- { if( count ) *count = pt_count; return pts; };
+ stg_point_t* Points( unsigned int *count )
+ { if( count ) *count = pt_count; return pts; };
- bool IntersectGlobalZ( stg_meters_t z )
- { return( z >= global_zmin && z <= global_zmax ); }
+ bool IntersectGlobalZ( stg_meters_t z )
+ { return( z >= global_zmin && z <= global_zmax ); }
- stg_color_t Color()
- { return( inherit_color ? mod->GetColor() : color ); }
+ stg_color_t Color()
+ { return( inherit_color ? mod->GetColor() : color ); }
- private:
- stg_point_t* pts; //< points defining a polygon
- size_t pt_count; //< the number of points
- stg_meters_t zmin;
- stg_meters_t zmax;
+private:
+ stg_point_t* pts; //< points defining a polygon
+ size_t pt_count; //< the number of points
+ stg_meters_t zmin;
+ stg_meters_t zmax;
- stg_meters_t global_zmin;
- stg_meters_t global_zmax;
+ stg_meters_t global_zmin;
+ stg_meters_t global_zmax;
- StgModel* mod; //< model to which this block belongs
+ StgModel* mod; //< model to which this block belongs
- stg_point_int_t* pts_global_pixels; //< points defining a
polygon in global coords
+ stg_point_int_t* pts_global_pixels; //< points defining a polygon in
global coords
- stg_color_t color;
- bool inherit_color;
+ stg_color_t color;
+ bool inherit_color;
- GArray* rendered_points;
+ GArray* rendered_points;
- inline void DrawTop();
- inline void DrawSides();
+ inline void DrawTop();
+ inline void DrawSides();
- inline void PushColor( stg_color_t col )
- { mod->PushColor( col ); }
+ inline void PushColor( stg_color_t col )
+ { mod->PushColor( col ); }
- inline void PushColor( double r, double g, double b, double a )
- { mod->PushColor( r,g,b,a ); }
+ inline void PushColor( double r, double g, double b, double a )
+ { mod->PushColor( r,g,b,a ); }
- inline void PopColor()
- { mod->PopColor(); }
+ inline void PopColor()
+ { mod->PopColor(); }
};
// COLOR STACK CLASS
@@ -1892,68 +1873,66 @@
void Save( Worldfile* wf, int sec );
};
-
class StgCanvas : public Fl_Gl_Window
{
- friend class StgWorldGui; // allow access to private members
- friend class StgModel;
+ friend class StgWorldGui; // allow access to private members
+ friend class StgModel;
private:
- GlColorStack colorstack;
-
- StgCamera* current_camera;
- StgOrthoCamera camera;
- StgPerspectiveCamera perspective_camera;
- bool dirty_buffer;
+ GlColorStack colorstack;
+
+ StgCamera* current_camera;
+ StgOrthoCamera camera;
+ StgPerspectiveCamera perspective_camera;
+ bool dirty_buffer;
Worldfile* wf;
-
- int startx, starty;
- bool selectedModel;
- bool clicked_empty_space;
+
+ int startx, starty;
+ bool selectedModel;
+ bool clicked_empty_space;
int empty_space_startx, empty_space_starty;
- GList* selected_models; ///< a list of models that are currently
- ///selected by the user
- StgModel* last_selection; ///< the most recently selected model
- ///(even if it is now unselected).
-
- stg_msec_t interval; // window refresh interval in ms
+ GList* selected_models; ///< a list of models that are currently
+ ///selected by the user
+ StgModel* last_selection; ///< the most recently selected model
+ ///(even if it is now unselected).
+
+ stg_msec_t interval; // window refresh interval in ms
+
+ GList* ray_list;
+ void RecordRay( double x1, double y1, double x2, double y2 );
+ void DrawRays();
+ void ClearRays();
+ void DrawGlobalGrid();
- GList* ray_list;
- void RecordRay( double x1, double y1, double x2, double y2 );
- void DrawRays();
- void ClearRays();
- void DrawGlobalGrid();
+ Option
+ showBlinken,
+ showBlocks,
+ showClock,
+ showData,
+ showFlags,
+ showFollow,
+ showFootprints,
+ showGrid,
+ showOccupancy,
+ showScreenshots,
+ showStatus,
+ showTrailArrows,
+ showTrailRise,
+ showTrails,
+ showTree,
+ pCamOn,
+ visualizeAll;
- Option
- showBlinken,
- showBlocks,
- showClock,
- showData,
- showFlags,
- showFollow,
- showFootprints,
- showGrid,
- showOccupancy,
- showScreenshots,
- showStatus,
- showTrailArrows,
- showTrailRise,
- showTrails,
- showTree,
- pCamOn,
- visualizeAll;
-
public:
-
StgCanvas( StgWorldGui* world, int x, int y, int W,int H);
~StgCanvas();
bool graphics;
StgWorldGui* world;
- void Screenshot();
+ void Screenshot();
- void createMenuItems( Fl_Menu_Bar* menu, std::string path );
+ void createMenuItems( Fl_Menu_Bar* menu, std::string path );
void FixViewport(int W,int H);
void DrawFloor(); //simpler floor compared to grid
@@ -1993,54 +1972,41 @@
void Save( Worldfile* wf, int section );
};
-
-/** Extends StgWorld to implements an FLTK / OpenGL graphical user
+/** Extends StgWorld to implement an FLTK / OpenGL graphical user
interface.
*/
class StgWorldGui : public StgWorld, public Fl_Window
{
- friend class StgCanvas;
- friend class StgModelCamera;
+ friend class StgCanvas;
+ friend class StgModelCamera;
private:
- bool paused; ///< the world only updates when this is false
- //int wf_section;
- StgCanvas* canvas;
- Fl_Menu_Bar* mbar;
- OptionsDlg* oDlg;
- std::vector<Option*> drawOptions;
- void updateOptions();
- stg_usec_t interval_log[INTERVAL_LOG_LEN];
-
- stg_usec_t real_time_of_last_update;
- stg_usec_t interval_real; ///< real-time interval between updates - set
this to zero for 'as fast as possible
-
-public:
- static const stg_msec_t DEFAULT_INTERVAL_REAL = 100; ///< real time between
updates
+ bool paused; ///< the world only updates when this is false
+ //int wf_section;
+ StgCanvas* canvas;
+ Fl_Menu_Bar* mbar;
+ OptionsDlg* oDlg;
+ std::vector<Option*> drawOptions;
+ void updateOptions();
+ stg_usec_t interval_log[INTERVAL_LOG_LEN];
- StgWorldGui(int W,int H,const char*L=0);
- ~StgWorldGui();
-
- virtual bool Update();
-
- virtual void Load( const char* filename );
- virtual void UnLoad();
- virtual bool Save( const char* filename );
-
-
- void Start(){ paused = false; };
- void Stop(){ paused = true; };
- void TogglePause(){ paused = !paused; };
-
- /** Get human readable string that describes the current simulation
- time. */
- std::string ClockString( void );
-
- /** Set the minimum real time interval between world updates, in
- microeconds. */
- void SetRealTimeInterval( stg_usec_t usec )
- { interval_real = usec; }
-
+ stg_usec_t real_time_of_last_update;
+ stg_usec_t interval_real; ///< real-time interval between updates -
set this to zero for 'as fast as possible
+
+ // static callback functions
+ static void windowCb( Fl_Widget* w, void* p );
+ static void fileLoadCb( Fl_Widget* w, void* p );
+ static void fileSaveCb( Fl_Widget* w, void* p );
+ static void fileSaveAsCb( Fl_Widget* w, void* p );
+ static void fileExitCb( Fl_Widget* w, void* p );
+ static void viewOptionsCb( Fl_Widget* w, void* p );
+ static void optionsDlgCb( Fl_Widget* w, void* p );
+ static void helpAboutCb( Fl_Widget* w, void* p );
+
+ // GUI functions
+ bool saveAsDialog();
+ bool closeWindowQuery();
+
protected:
virtual void PushColor( stg_color_t col )
{ canvas->PushColor( col ); }
@@ -2049,27 +2015,38 @@
{ canvas->PushColor( r,g,b,a ); }
virtual void PopColor()
- { canvas->PopColor(); }
+ { canvas->PopColor(); }
void DrawTree( bool leaves );
void DrawFloor();
StgCanvas* GetCanvas( void ) { return canvas; }
-private:
- // static callback functions
- static void windowCb( Fl_Widget* w, void* p );
- static void fileLoadCb( Fl_Widget* w, void* p );
- static void fileSaveCb( Fl_Widget* w, void* p );
- static void fileSaveAsCb( Fl_Widget* w, void* p );
- static void fileExitCb( Fl_Widget* w, void* p );
- static void viewOptionsCb( Fl_Widget* w, void* p );
- static void optionsDlgCb( Fl_Widget* w, void* p );
- static void helpAboutCb( Fl_Widget* w, void* p );
-
- // GUI functions
- bool saveAsDialog();
- bool closeWindowQuery();
+public:
+ static const stg_msec_t DEFAULT_INTERVAL_REAL = 100; ///< real time
between updates
+
+ StgWorldGui(int W,int H,const char*L=0);
+ ~StgWorldGui();
+
+ virtual bool Update();
+
+ virtual void Load( const char* filename );
+ virtual void UnLoad();
+ virtual bool Save( const char* filename );
+
+
+ void Start(){ paused = false; };
+ void Stop(){ paused = true; };
+ void TogglePause(){ paused = !paused; };
+
+ /** Get human readable string that describes the current simulation
+ time. */
+ std::string ClockString( void );
+
+ /** Set the minimum real time interval between world updates, in
+ microeconds. */
+ void SetRealTimeInterval( stg_usec_t usec )
+ { interval_real = usec; }
};
@@ -2084,55 +2061,55 @@
stg_meters_t range;
} stg_blobfinder_blob_t;
-
+/// StgModelBlobfinder class
class StgModelBlobfinder : public StgModel
{
- private:
+private:
+ GArray* colors;
+ GArray* blobs;
- GArray* colors;
- GArray* blobs;
+ // predicate for ray tracing
+ static bool BlockMatcher( StgBlock* testblock, StgModel* finder );
- // predicate for ray tracing
- static bool BlockMatcher( StgBlock* testblock, StgModel* finder
);
+ static Option showBlobData;
+
+ virtual void DataVisualize();
- static Option showBlobData;
- public:
+public:
+ unsigned int scan_width;
+ unsigned int scan_height;
+ stg_meters_t range;
+ stg_radians_t fov;
+ stg_radians_t pan;
- unsigned int scan_width;
- unsigned int scan_height;
- stg_meters_t range;
- stg_radians_t fov;
- stg_radians_t pan;
+ static const char* typestr;
- static const char* typestr;
-
- // constructor
- StgModelBlobfinder( StgWorld* world,
+ // constructor
+ StgModelBlobfinder( StgWorld* world,
StgModel* parent );
- // destructor
- ~StgModelBlobfinder();
-
- virtual void Startup();
- virtual void Shutdown();
- virtual void Update();
- virtual void Load();
- virtual void DataVisualize();
+ // destructor
+ ~StgModelBlobfinder();
- stg_blobfinder_blob_t* GetBlobs( unsigned int* count )
- {
- if( count ) *count = blobs->len;
- return (stg_blobfinder_blob_t*)blobs->data;
- }
+ virtual void Startup();
+ virtual void Shutdown();
+ virtual void Update();
+ virtual void Load();
- /** Start finding blobs with this color.*/
- void AddColor( stg_color_t col );
+ stg_blobfinder_blob_t* GetBlobs( unsigned int* count )
+ {
+ if( count ) *count = blobs->len;
+ return (stg_blobfinder_blob_t*)blobs->data;
+ }
- /** Stop tracking blobs with this color */
- void RemoveColor( stg_color_t col );
+ /** Start finding blobs with this color.*/
+ void AddColor( stg_color_t col );
- /** Stop tracking all colors. Call this to clear the defaults,
then
- add colors individually with AddColor(); */
- void RemoveAllColors();
+ /** Stop tracking blobs with this color */
+ void RemoveColor( stg_color_t col );
+
+ /** Stop tracking all colors. Call this to clear the defaults, then
+ add colors individually with AddColor(); */
+ void RemoveAllColors();
};
// ENERGY model --------------------------------------------------------------
@@ -2194,6 +2171,7 @@
stg_radians_t fov;
} stg_laser_cfg_t;
+/// StgModelLaser class
class StgModelLaser : public StgModel
{
private:
@@ -2366,6 +2344,7 @@
} stg_fiducial_t;
+/// StgModelFiducial class
class StgModelFiducial : public StgModel
{
private:
@@ -2418,6 +2397,7 @@
int ray_count;
} stg_ranger_sensor_t;
+/// StgModelRanger class
class StgModelRanger : public StgModel
{
protected:
@@ -2477,6 +2457,7 @@
GLfloat x, y, z;
} ColoredVertex;
+/// StgModelCamera class
class StgModelCamera : public StgModel
{
private:
@@ -2566,6 +2547,7 @@
} stg_position_drive_mode_t;
+/// StgModelPosition class
class StgModelPosition : public StgModel
{
private:
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2008-07-08 22:41:27 UTC (rev 6821)
+++ code/stage/trunk/libstage/world.cc 2008-07-08 23:04:20 UTC (rev 6822)
@@ -1,8 +1,7 @@
+/** @defgroup world World
-/** @defgroup world Worlds
-
Stage simulates a 'world' composed of `models', defined in a `world
- file'.
+ file'.
API: Stg::StgWorld
@@ -37,7 +36,7 @@
<tt>(stage src)/worlds</tt> along with the worldfile properties
described on the manual page for each model type.
- */
+*/
#ifndef _GNU_SOURCE
#define _GNU_SOURCE
@@ -49,7 +48,7 @@
#include <assert.h>
#include <string.h> // for strdup(3)
#include <locale.h>
-#include <glib-object.h> // fior g_type_init() used by GDKPixbuf objects
+#include <glib-object.h> // for g_type_init() used by GDKPixbuf objects
#include <limits.h>
#include "stage_internal.hh"
@@ -286,8 +285,7 @@
//printf( "created model %s\n", mod->Token() );
// configure the model with properties from the world file
- mod->SetWorldfile( wf, entity );
- mod->Load();
+ mod->Load(wf, entity );
// record the model we created for this worlfile entry
g_hash_table_insert( entitytable, (gpointer)entity, mod );
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-07-08 22:41:27 UTC (rev
6821)
+++ code/stage/trunk/libstage/worldgui.cc 2008-07-08 23:04:20 UTC (rev
6822)
@@ -1,15 +1,15 @@
-/** worldgui.cc
- Implement a subclass of StgWorld that has an FLTK and OpenGL GUI
+/* worldgui.cc
+ Implements a subclass of StgWorld that has an FLTK and OpenGL GUI
Authors: Richard Vaughan ([EMAIL PROTECTED])
Alex Couture-Beil ([EMAIL PROTECTED])
Jeremy Asher ([EMAIL PROTECTED])
- $Id: canvas.cc,v 1.12 2008-03-03 07:01:12 rtv Exp $
+ $Id: worldgui.cc,v 1.12 2008-03-03 07:01:12 rtv Exp $
*/
/** @defgroup worldgui World with Graphical User Interface
- The Stage window consists of a menu bar, a view of the simulated
- world, and a status bar.
+ The Stage window consists of a menu bar and a view of the simulated
+ world.
The world view shows part of the simulated world. You can zoom the
view in and out, and scroll it to see more of the world. Simulated
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