model_laser.c File Reference
#include <sys/time.h>
#include <math.h>
#include "gui.h"
#include "stage_internal.h"
Defines | |
#define | LASER_FILLED 1 |
#define | STG_DEFAULT_LASER_FOV M_PI |
#define | STG_DEFAULT_LASER_MAXRANGE 8.0 |
#define | STG_DEFAULT_LASER_MINRANGE 0.0 |
#define | STG_DEFAULT_LASER_SAMPLES 180 |
#define | STG_DEFAULT_LASER_SIZEX 0.15 |
#define | STG_DEFAULT_LASER_SIZEY 0.15 |
#define | STG_LASER_SAMPLES_MAX 1024 |
#define | STG_LASER_WATTS 17.5 |
#define | TIMING 0 |
Functions | |
int | laser_init (stg_model_t *mod) |
void | laser_load (stg_model_t *mod) |
int | laser_raytrace_match (stg_model_t *mod, stg_model_t *hitmod) |
int | laser_render_cfg (stg_model_t *mod, void *userp) |
int | laser_render_data (stg_model_t *mod, void *userp) |
int | laser_shutdown (stg_model_t *mod) |
int | laser_startup (stg_model_t *mod) |
int | laser_unrender_cfg (stg_model_t *mod, void *userp) |
int | laser_unrender_data (stg_model_t *mod, void *userp) |
int | laser_update (stg_model_t *mod) |
void | stg_laser_config_print (stg_laser_config_t *slc) |
Variables | |
stg_rtk_fig_t * | fig_debug_rays |
Define Documentation
#define LASER_FILLED 1 |
#define STG_DEFAULT_LASER_FOV M_PI |
Referenced by laser_init().
#define STG_DEFAULT_LASER_MAXRANGE 8.0 |
Referenced by laser_init().
#define STG_DEFAULT_LASER_MINRANGE 0.0 |
Referenced by laser_init().
#define STG_DEFAULT_LASER_SAMPLES 180 |
Referenced by laser_init().
#define STG_DEFAULT_LASER_SIZEX 0.15 |
Referenced by laser_init().
#define STG_DEFAULT_LASER_SIZEY 0.15 |
Referenced by laser_init().
#define STG_LASER_SAMPLES_MAX 1024 |
#define STG_LASER_WATTS 17.5 |
Referenced by laser_startup().
#define TIMING 0 |
Function Documentation
int laser_init | ( | stg_model_t * | mod | ) |
References stg_pose_t::a, FALSE, stg_laser_config_t::fov, gc_laser_init(), laser_load(), laser_render_cfg(), laser_render_data(), laser_shutdown(), laser_startup(), laser_unrender_cfg(), laser_unrender_data(), stg_geom_t::pose, stg_laser_config_t::range_max, stg_laser_config_t::range_min, stg_laser_config_t::resolution, stg_laser_config_t::samples, stg_geom_t::size, STG_DEFAULT_LASER_FOV, STG_DEFAULT_LASER_MAXRANGE, STG_DEFAULT_LASER_MINRANGE, STG_DEFAULT_LASER_SAMPLES, STG_DEFAULT_LASER_SIZEX, STG_DEFAULT_LASER_SIZEY, STG_LASER_BRIGHT_COLOR, STG_LASER_CFG_COLOR, STG_LASER_COLOR, STG_LASER_GEOM_COLOR, stg_lookup_color(), stg_model_add_property_toggles(), stg_model_set_cfg(), stg_model_set_color(), stg_model_set_data(), stg_model_set_geom(), stg_model_set_polygons(), stg_unit_polygon_create(), TRUE, stg_size_t::x, stg_pose_t::x, stg_size_t::y, and stg_pose_t::y.
void laser_load | ( | stg_model_t * | mod | ) |
int laser_raytrace_match | ( | stg_model_t * | mod, | |
stg_model_t * | hitmod | |||
) |
int laser_render_cfg | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
int laser_render_data | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
References stg_pose_t::a, FALSE, stg_laser_config_t::fov, stg_geom_t::pose, stg_laser_sample_t::range, STG_LAYER_BACKGROUND, STG_LAYER_LASERDATA, stg_model_fig_get_or_create(), stg_model_get_geom(), stg_model_get_global_pose(), stg_rtk_fig_clear(), stg_rtk_fig_color_rgb32(), stg_rtk_fig_polygon(), stg_rtk_fig_rectangle(), TRUE, stg_point_t::x, and stg_point_t::y.
Referenced by laser_init().
int laser_shutdown | ( | stg_model_t * | mod | ) |
References PRINT_DEBUG, stg_model_set_data(), and stg_model_set_watts().
Referenced by laser_init().
int laser_startup | ( | stg_model_t * | mod | ) |
References laser_update(), PRINT_DEBUG, STG_LASER_WATTS, and stg_model_set_watts().
Referenced by laser_init().
int laser_unrender_cfg | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
int laser_unrender_data | ( | stg_model_t * | mod, | |
void * | userp | |||
) |
int laser_update | ( | stg_model_t * | mod | ) |
References stg_pose_t::a, stg_laser_config_t::fov, itl_create(), itl_destroy(), itl_first_matching(), laser_raytrace_match(), LaserBright, PointToBearingRange, stg_geom_t::pose, PRINT_DEBUG2, PRINT_DEBUG3, stg_laser_sample_t::range, itl_t::range, stg_laser_config_t::range_max, stg_laser_config_t::range_min, stg_laser_sample_t::reflectance, stg_laser_config_t::resolution, stg_laser_config_t::samples, stg_model_get_geom(), stg_model_local_to_global(), stg_model_set_data(), stg_rtk_fig_clear(), stg_pose_t::x, and stg_pose_t::y.
Referenced by laser_startup().
void stg_laser_config_print | ( | stg_laser_config_t * | slc | ) |
Variable Documentation
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