Revision: 7291
http://playerstage.svn.sourceforge.net/playerstage/?rev=7291&view=rev
Author: rtv
Date: 2009-01-23 23:39:04 +0000 (Fri, 23 Jan 2009)
Log Message:
-----------
moved Stg::Gl namespace into stage.hh and removed gl.hh
Modified Paths:
--------------
code/stage/trunk/libstage/blockgroup.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/gl.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/region.cc
code/stage/trunk/libstage/stage.hh
Removed Paths:
-------------
code/stage/trunk/libstage/gl.hh
Modified: code/stage/trunk/libstage/blockgroup.cc
===================================================================
--- code/stage/trunk/libstage/blockgroup.cc 2009-01-23 21:49:08 UTC (rev
7290)
+++ code/stage/trunk/libstage/blockgroup.cc 2009-01-23 23:39:04 UTC (rev
7291)
@@ -1,6 +1,5 @@
#include "stage.hh"
-#include "gl.hh"
#include "worldfile.hh"
#include <libgen.h> // for dirname(3)
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2009-01-23 21:49:08 UTC (rev 7290)
+++ code/stage/trunk/libstage/canvas.cc 2009-01-23 23:39:04 UTC (rev 7291)
@@ -10,7 +10,6 @@
*/
#include "stage.hh"
-#include "gl.hh"
#include "canvas.hh"
#include "worldfile.hh"
#include "texture_manager.hh"
Modified: code/stage/trunk/libstage/gl.cc
===================================================================
--- code/stage/trunk/libstage/gl.cc 2009-01-23 21:49:08 UTC (rev 7290)
+++ code/stage/trunk/libstage/gl.cc 2009-01-23 23:39:04 UTC (rev 7291)
@@ -1,5 +1,5 @@
-#include "gl.hh"
+#include "stage.hh"
using namespace Stg;
// transform the current coordinate frame by the given pose
Deleted: code/stage/trunk/libstage/gl.hh
===================================================================
--- code/stage/trunk/libstage/gl.hh 2009-01-23 21:49:08 UTC (rev 7290)
+++ code/stage/trunk/libstage/gl.hh 2009-01-23 23:39:04 UTC (rev 7291)
@@ -1,20 +0,0 @@
-
-#include "stage.hh"
-
-namespace Stg
-{
- /** @brief Internal low-level drawing convenience routines. */
- 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 );
- /** Render a string at [x,y,z] in the current color */
- void draw_string( float x, float y, float z, const char *string);
- void draw_speech_bubble( float x, float y, float z, const char* str );
- void draw_octagon( float w, float h, float m );
- void draw_vector( double x, double y, double z );
- void draw_origin( double len );
- }
-}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-01-23 21:49:08 UTC (rev 7290)
+++ code/stage/trunk/libstage/model.cc 2009-01-23 23:39:04 UTC (rev 7291)
@@ -108,12 +108,10 @@
#define _GNU_SOURCE
#endif
-//#define DEBUG 0
-#include "stage.hh"
-#include "gl.hh"
-
#include <map>
+//#define DEBUG 0
+#include "stage.hh"
#include "worldfile.hh"
#include "canvas.hh"
#include "texture_manager.hh"
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2009-01-23 21:49:08 UTC (rev
7290)
+++ code/stage/trunk/libstage/model_fiducial.cc 2009-01-23 23:39:04 UTC (rev
7291)
@@ -17,7 +17,6 @@
#include <math.h>
#include "stage.hh"
-#include "gl.hh"
#include "option.hh"
#include "worldfile.hh"
using namespace Stg;
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2009-01-23 21:49:08 UTC (rev
7290)
+++ code/stage/trunk/libstage/model_position.cc 2009-01-23 23:39:04 UTC (rev
7291)
@@ -19,7 +19,6 @@
//#define DEBUG
#include "stage.hh"
-#include "gl.hh"
#include "option.hh"
#include "worldfile.hh"
using namespace Stg;
Modified: code/stage/trunk/libstage/region.cc
===================================================================
--- code/stage/trunk/libstage/region.cc 2009-01-23 21:49:08 UTC (rev 7290)
+++ code/stage/trunk/libstage/region.cc 2009-01-23 23:39:04 UTC (rev 7291)
@@ -5,7 +5,6 @@
*/
#include "region.hh"
-#include "gl.hh"
using namespace Stg;
const uint32_t Region::WIDTH = REGIONWIDTH;
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-01-23 21:49:08 UTC (rev 7290)
+++ code/stage/trunk/libstage/stage.hh 2009-01-23 23:39:04 UTC (rev 7291)
@@ -236,8 +236,8 @@
class Pose
{
public:
- stg_meters_t x, y, z; //< location in 3 axes
- stg_radians_t a; //< rotation about the z axis.
+ stg_meters_t x, y, z;///< location in 3 axes
+ stg_radians_t a;///< rotation about the z axis.
Pose( stg_meters_t x,
stg_meters_t y,
@@ -262,6 +262,9 @@
normalize( drand48() * (2.0 * M_PI) ));
}
+ /** Print pose in human-readable format on stdout
+ @param prefix Character string to prepend to pose output
+ */
virtual void Print( const char* prefix )
{
printf( "%s pose [x:%.3f y:%.3f z:%.3f a:%.3f]\n",
@@ -270,10 +273,15 @@
};
- /** specify a 3 axis velocity in x, y and heading. */
+ /** Specify a 3 axis velocity in x, y and heading. */
class Velocity : public Pose
{
public:
+ /** @param x x position in meters
+ @param y y position in meters
+ @param z z position in meters
+ @param a heading in radians
+ */
Velocity( stg_meters_t x,
stg_meters_t y,
stg_meters_t z,
@@ -283,6 +291,9 @@
Velocity()
{ /*empty*/ }
+ /** Print velocity in human-readable format on stdout
+ @param prefix Character string to prepend to pose output
+ */
virtual void Print( const char* prefix )
{
printf( "%s velocity [x:%.3f y:%.3f z:%3.f a:%.3f]\n",
@@ -290,13 +301,13 @@
}
};
- /** specify an object's basic geometry: position and rectangular
+ /** Specify an object's basic geometry: position and rectangular
size. */
class Geom
{
public:
- Pose pose; //< position
- Size size; //< extent
+ Pose pose;///< position
+ Size size;///< extent
void Print( const char* prefix )
{
@@ -310,6 +321,8 @@
}
};
+ /** Specify a point in space. Arrays of Waypoints can be attached to
+ Models and visualized. */
class Waypoint
{
public:
@@ -321,27 +334,32 @@
stg_color_t color;
};
- /** bound a range of values, from min to max. min and max are initialized to
zero. */
+ /** Bound a range of values, from min to max. min and max are initialized to
zero. */
class Bounds
{
public:
- double max; //< largest value in range
- double min; //< smallest value in range
+ /// largest value in range, initially zero
+ double max;
+ /// smallest value in range, initially zero
+ double min;
Bounds() : max(0), min(0)
{ /* empty*/ };
};
- /** bound a volume along the x,y,z axes. All bounds initialized to zero. */
+ /** Bound a volume along the x,y,z axes. All bounds initialized to zero. */
typedef struct
{
- Bounds x; //< volume extent along x axis
- Bounds y; //< volume extent along y axis
- Bounds z; //< volume extent along z axis
+ /// volume extent along x axis, intially zero
+ Bounds x;
+ /// volume extent along y axis, initially zero
+ Bounds y;
+ /// volume extent along z axis, initially zero
+ Bounds z;
} stg_bounds3d_t;
- /** define a three-dimensional bounding box, initialized to zero */
+ /** Define a three-dimensional bounding box, initialized to zero */
typedef struct
{
Bounds x, y, z;
@@ -350,8 +368,8 @@
/** define a field-of-view: an angle and range bounds */
typedef struct
{
- Bounds range; //< min and max range of sensor
- stg_radians_t angle; //< width of viewing angle of sensor
+ Bounds range; ///< min and max range of sensor
+ stg_radians_t angle; ///< width of viewing angle of sensor
} stg_fov_t;
/** define a point on a 2d plane */
@@ -398,9 +416,9 @@
typedef uint32_t stg_movemask_t;
- const uint32_t STG_MOVE_TRANS = (1 << 0); //< bitmask for stg_movemask_t
- const uint32_t STG_MOVE_ROT = (1 << 1); //< bitmask for stg_movemask_t
- const uint32_t STG_MOVE_SCALE = (1 << 2); //< bitmask for stg_movemask_t
+ const uint32_t STG_MOVE_TRANS = (1 << 0); ///< bitmask for stg_movemask_t
+ const uint32_t STG_MOVE_ROT = (1 << 1); ///< bitmask for stg_movemask_t
+ const uint32_t STG_MOVE_SCALE = (1 << 2); ///< bitmask for stg_movemask_t
const char STG_MP_PREFIX[] = "_mp_";
const char STG_MP_POSE[] = "_mp_pose";
@@ -421,10 +439,27 @@
{
LaserTransparent=0, ///<not detected by laser model
LaserVisible, ///< detected by laser with a reflected intensity of 0
- LaserBright ////< detected by laser with a reflected intensity of 1
+ LaserBright ///< detected by laser with a reflected intensity of 1
} stg_laser_return_t;
+
+ /** Convenient OpenGL drawing routines, used by visualization
+ code. */
+ 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 );
+ /** Render a string at [x,y,z] in the current color */
+ void draw_string( float x, float y, float z, const char *string);
+ void draw_speech_bubble( float x, float y, float z, const char* str );
+ void draw_octagon( float w, float h, float m );
+ void draw_vector( double x, double y, double z );
+ void draw_origin( double len );
+ }
+
/** @brief Interface to the internal drawing system. */
namespace Draw
{
@@ -1068,15 +1103,14 @@
stg_color_t GetColor();
private:
- Model* mod; //< model to which this block belongs
+ Model* mod; ///< model to which this block belongs
- size_t pt_count; //< the number of points
- stg_point_t* pts; //< points defining a polygon
+ size_t pt_count; ///< the number of points
+ stg_point_t* pts; ///< points defining a polygon
Size size;
-
- Bounds local_z; //< z extent in local coords
+ Bounds local_z; ///< z extent in local coords
stg_color_t color;
bool inherit_color;
@@ -1524,12 +1558,12 @@
may be of interest to users. This allows polling the model
instead of adding a data callback. */
bool data_fresh;
- stg_bool_t disabled; //< if non-zero, the model is disabled
+ stg_bool_t disabled; ///< if non-zero, the model is disabled
GList* custom_visual_list;
GList* flag_list;
Geom geom;
Pose global_pose;
- bool gpose_dirty; //< set this to indicate that global pose may have changed
+ bool gpose_dirty; ///< set this to indicate that global pose may have
changed
/** Controls our appearance and functionality in the GUI, if used */
GuiState gui;
@@ -1542,8 +1576,8 @@
/** unique process-wide identifier for this model */
uint32_t id;
ctrlinit_t* initfunc;
- stg_usec_t interval; //< time between updates in us
- stg_usec_t last_update; //< time of last update in us
+ stg_usec_t interval; ///< time between updates in us
+ stg_usec_t last_update; ///< time of last update in us
bool map_caches_are_invalid;
stg_meters_t map_resolution;
stg_kg_t mass;
@@ -1564,19 +1598,19 @@
by derived model types to store properties, and for user code
to associate arbitrary items with a model. */
GData* props;
- bool rebuild_displaylist; //< iff true, regenerate block display list before
redraw
- char* say_string; //< if non-null, this string is displayed in the GUI
+ bool rebuild_displaylist; ///< iff true, regenerate block display list
before redraw
+ char* say_string; ///< if non-null, this string is displayed in the GUI
stg_bool_t stall;
/** Thread safety flag. Iff true, Update() may be called in
parallel with other models. Defaults to false for safety */
- int subs; //< the number of subscriptions to this model
+ int subs; ///< the number of subscriptions to this model
bool thread_safe;
GArray* trail;
stg_model_type_t type;
- bool used; //< TRUE iff this model has been returned by
GetUnusedModelOfType()
+ bool used; ///< TRUE iff this model has been returned by
GetUnusedModelOfType()
Velocity velocity;
- stg_watts_t watts; //< power consumed by this model
+ stg_watts_t watts;///< power consumed by this model
Worldfile* wf;
int wf_entity;
World* world; // pointer to the world in which this model exists
@@ -2273,7 +2307,7 @@
*/
typedef struct
{
- stg_meters_t max_range_anon; //< maximum detection range
+ stg_meters_t max_range_anon;///< maximum detection range
stg_meters_t max_range_id; ///< maximum range at which the ID can be read
stg_meters_t min_range; ///< minimum detection range
stg_radians_t fov; ///< field of view
@@ -2325,7 +2359,7 @@
virtual void Load();
void Shutdown( void );
- stg_meters_t max_range_anon; //< maximum detection range
+ stg_meters_t max_range_anon;///< maximum detection range
stg_meters_t max_range_id; ///< maximum range at which the ID can be read
stg_meters_t min_range; ///< minimum detection range
stg_radians_t fov; ///< field of view
@@ -2504,7 +2538,7 @@
friend class Canvas;
private:
- Pose goal; //< the current velocity or pose to reach, depending on the value
of control_mode
+ Pose goal;///< the current velocity or pose to reach, depending on the value
of control_mode
stg_position_control_mode_t control_mode;
stg_position_drive_mode_t drive_mode;
stg_position_localization_mode_t localization_mode; ///< global or local mode
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