Utilities
[libstage API reference]


Modules

 Floating point comparisons

Defines

#define BILLION   1e9
#define DTOR(d)   ((d) * M_PI / 180.0)
#define FALSE   0
#define M_PI   3.14159265358979323846
#define MILLION   1e6
#define NORMALIZE(z)   atan2(sin(z), cos(z))
#define RTOD(r)   ((r) * 180.0 / M_PI)
#define TRUE   1
#define TWOPI   (2.0*M_PI)

Functions

stg_color_t stg_lookup_color (const char *name)
void stg_pose_sum (stg_pose_t *result, stg_pose_t *p1, stg_pose_t *p2)
void stg_print_err (const char *err)
void stg_print_geom (stg_geom_t *geom)
void stg_print_gripper_config (stg_gripper_config_t *slc)
void stg_print_laser_config (stg_laser_config_t *slc)
void stg_print_pose (stg_pose_t *pose)
void stg_print_velocity (stg_velocity_t *vel)

Detailed Description

Various useful macros and functions that don't belong anywhere else.

Define Documentation

#define BILLION   1e9

#define DTOR (  )     ((d) * M_PI / 180.0)

Convert degrees to radians.

Referenced by InterfaceLaser::ProcessMessage().

#define FALSE   0

#define MILLION   1e6

Referenced by stg_world_dimensions().

#define NORMALIZE (  )     atan2(sin(z), cos(z))

#define RTOD (  )     ((r) * 180.0 / M_PI)

#define TRUE   1

#define TWOPI   (2.0*M_PI)


Function Documentation

stg_color_t stg_lookup_color ( const char *  name  ) 

Look up the color in the X11 database. (i.e. transform color name to color value). If the color is not found in the database, a bright red color (0xF00) will be returned instead.

References PRINT_DEBUG, PRINT_DEBUG1, PRINT_ERR1, and TRUE.

Referenced by audio_render_cfg(), audio_render_data(), blobfinder_init(), blobfinder_load(), blobfinder_render_cfg(), fiducial_render_data(), gripper_init(), gripper_render_cfg(), gui_action_raytrace(), gui_model_grid(), gui_window_create(), laser_init(), ranger_init(), ranger_render_data(), speech_render_data(), stg_model_load(), and wifi_init().

void stg_pose_sum ( stg_pose_t result,
stg_pose_t p1,
stg_pose_t p2 
)

calculate the sum of [p1] and [p2], in [p1]'s coordinate system, and copy the result into result.

References stg_pose_t::a, stg_pose_t::x, and stg_pose_t::y.

Referenced by stg_model_local_to_global(), and stg_model_test_collision().

void stg_print_err ( const char *  err  ) 

Report an error, with a standard, friendly message header

References _stg_quit, and TRUE.

void stg_print_geom ( stg_geom_t geom  ) 

Print human-readable geometry on stdout

References stg_pose_t::a, stg_geom_t::pose, stg_geom_t::size, stg_size_t::x, stg_pose_t::x, stg_size_t::y, and stg_pose_t::y.

void stg_print_laser_config ( stg_laser_config_t slc  ) 

Print human-readable version of the laser config struct

void stg_print_pose ( stg_pose_t pose  ) 

Print human-readable pose on stdout

References stg_pose_t::a, stg_pose_t::x, and stg_pose_t::y.

void stg_print_velocity ( stg_velocity_t vel  ) 

Print human-readable velocity on stdout

References stg_pose_t::a, stg_pose_t::x, and stg_pose_t::y.


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