Fawkes API  Fawkes Development Version
fawkes Namespace Reference

Fawkes library namespace. More...

Classes

class  AbstractDriveMode
 This is the base class which calculates drive modes. More...
 
class  AbstractSearch
 This is the abstract search interpretation class for an arbitrary search algorithm to find its way through an Occupancy grid from a robopos to a targetpos. More...
 
class  AccessViolationException
 Access violates policy. More...
 
class  AllemaniACsAtHomeCairoRobotDrawer
 Draw AllemaniACs AtHome robot. More...
 
struct  arc_struct
 Defines an arc (or circle) More...
 
class  ArgumentParser
 Parse command line arguments. More...
 
class  Aspect
 Fawkes aspect base class. More...
 
class  AspectIniFin
 Aspect initializer/finalizer base class. More...
 
class  AspectManager
 Aspect and aspect initializer/finalizer manager. More...
 
class  AspectProviderAspect
 Thread aspect provide a new aspect. More...
 
class  AspectProviderAspectIniFin
 Initializer/finalizer for the AspectProviderAspect. More...
 
class  AStar
 Class AStar. More...
 
class  AStarState
 This is the abstract(!) class for an A* State. More...
 
class  AvahiDispatcher
 Avahi dispatcher. More...
 
class  AvahiResolverHandler
 Avahi resolver handler interface. More...
 
class  AvahiThread
 Avahi main thread. More...
 
class  BackwardDriveModule
 This is the SlowBackward drive-module, for slow backward only movements. More...
 
class  Barrier
 A barrier is a synchronization tool which blocks until a given number of threads have reached the barrier. More...
 
class  BaseMotorInstruct
 The Basic of a Motorinstructor. More...
 
class  BatteryInterface
 BatteryInterface Fawkes BlackBoard Interface. More...
 
struct  bb_idata_msg_t
 Interface data message. More...
 
struct  bb_ievent_msg_t
 Message for interface events. More...
 
struct  bb_ieventserial_msg_t
 Message to identify an two interface instances. More...
 
struct  bb_iinfo_msg_t
 Message for interface info. More...
 
struct  bb_ilist_msg_t
 Message to transport a list of interfaces. More...
 
struct  bb_ilistreq_msg_t
 Message to request constrained interface list. More...
 
struct  bb_imessage_msg_t
 Interface message. More...
 
struct  bb_iopen_msg_t
 Message to identify an interface on open. More...
 
struct  bb_iopenfail_msg_t
 Message to send update data. More...
 
struct  bb_iopensucc_msg_t
 Interface open success The serial denotes a unique instance of an interface within the (remote) BlackBoard. More...
 
struct  bb_iserial_msg_t
 Message to identify an interface instance. More...
 
class  BBInconsistentMemoryException
 Thrown when BlackBoard memory has been corupted This exception is thrown by the memory manager if the memory has been corrupted, for example if there are bytes that belong to neither a free chunk nor a allocated chunk. More...
 
class  BBMemMgrCannotOpenException
 Thrown if shared memory could not be opened. More...
 
class  BBNotMasterException
 Thrown if BlackBoard is not master and master operation has been requested. More...
 
class  BinomialCoefficient
 Contains method to compute the binomial coefficient. More...
 
class  BiwardDriveModule
 This is the SlowBiward drive-module. More...
 
class  BlackBoard
 The BlackBoard abstract class. More...
 
class  BlackBoardAspect
 Thread aspect to access to BlackBoard. More...
 
class  BlackBoardAspectIniFin
 Initializer/finalizer for the BlackBoardAspect. More...
 
class  BlackBoardInstanceFactory
 BlackBoard instance factory. More...
 
class  BlackBoardInterfaceListContent
 BlackBoard interface list content. More...
 
class  BlackBoardInterfaceListener
 BlackBoard interface listener. More...
 
class  BlackBoardInterfaceListMaintainer
 opens and maintains multiple interfaces defined by a pattern More...
 
class  BlackBoardInterfaceManager
 BlackBoard interface manager. More...
 
class  BlackBoardInterfaceNotFoundException
 Thrown if no definition of interface or interface generator found. More...
 
class  BlackBoardInterfaceObserver
 BlackBoard interface observer. More...
 
class  BlackBoardInterfaceProxy
 Interface proxy for remote BlackBoard. More...
 
class  BlackBoardInterfaceVersionMismatchException
 Thrown if versions do not match. More...
 
class  BlackBoardMemMgrInvalidPointerException
 A NULL pointer was supplied where not allowed. More...
 
class  BlackBoardMemoryManager
 BlackBoard memory manager. More...
 
class  BlackBoardMessageManager
 BlackBoard message manager. More...
 
class  BlackBoardNetHandlerInterfaceListener
 Interface listener for network handler. More...
 
class  BlackBoardNetHandlerInterfaceObserver
 Interface observer for blackboard network handler. More...
 
class  BlackBoardNetworkHandler
 BlackBoard Network Handler. More...
 
class  BlackBoardNoMasterAliveException
 Thrown if BlackBoard is opened as non-master with no master alive. More...
 
class  BlackBoardNotifier
 BlackBoard notifier. More...
 
class  BlackBoardNoWritingInstanceException
 Thrown if no writer interface is alive. More...
 
class  BlackBoardOnMessageWaker
 Wake threads on receiving a blackboard message. More...
 
class  BlackBoardOnUpdateWaker
 Wake threads when a blackboard interface is updated. More...
 
class  BlackBoardSharedMemoryHeader
 BlackBoard Shared Memory Header. More...
 
class  BlackBoardSharedMemoryLister
 BlackBoard shared memory lister. More...
 
class  BlackBoardWithOwnership
 BlackBoard that traces interface ownership. More...
 
class  BlackBoardWriterActiveException
 Thrown if a writer is already active on an interface that writing has been requested for. More...
 
class  BlockedTimingAspect
 Thread aspect to use blocked timing. More...
 
class  BlockedTimingAspectIniFin
 Initializer/finalizer for the BlockedTimingAspect. More...
 
class  BlockedTimingExecutor
 Blocked timing executor. More...
 
class  BroadcastDatagramSocket
 Broadcast datagram socket. More...
 
class  CacheLogger
 Logging Cache. More...
 
class  CairoRobotDrawer
 Robot drawing interface. More...
 
class  CameraControlInterface
 CameraControlInterface Fawkes BlackBoard Interface. More...
 
class  CannotEnableMirroringException
 Thrown if enabling mirror mode failed. More...
 
class  CannotFinalizeThreadException
 Thread cannot be finalized. More...
 
class  CannotInitializeThreadException
 Thread cannot be initialized. More...
 
struct  cart_coord_2d_struct
 Cartesian coordinates (2D). More...
 
struct  cart_coord_3d_t
 Cartesian coordinates (3D). More...
 
struct  chunk_list_t
 Chunk lists as stored in BlackBoard shared memory segment. More...
 
class  CircularBuffer
 Circular buffer with a fixed size. More...
 
class  CLIPSAspect
 Thread aspect to get access to a CLIPS environment. More...
 
class  CLIPSAspectIniFin
 CLIPSAspect initializer/finalizer. More...
 
class  CLIPSEnvManager
 CLIPS environment manager. More...
 
class  CLIPSFeature
 CLIPS feature maintainer. More...
 
class  CLIPSFeatureAspect
 Thread aspect to provide a feature to CLIPS environments. More...
 
class  CLIPSFeatureAspectIniFin
 CLIPSFeatureAspect initializer/finalizer. More...
 
class  CLIPSManagerAspect
 Thread aspect access the CLIPS environment manager. More...
 
class  CLIPSManagerAspectIniFin
 CLIPSManagerAspect initializer/finalizer. More...
 
class  Clock
 This is supposed to be the central clock in Fawkes. More...
 
class  ClockAspect
 Thread aspect that allows to obtain the current time from the clock. More...
 
class  ClockAspectIniFin
 Initializer/finalizer for the ClockAspect. More...
 
struct  colli_cell_cost_t
 Costs of occupancy-grid cells. More...
 
struct  colli_data_t
 Colli data, refering to current movement. More...
 
struct  colli_trans_rot_t
 Storing Translation and rotation. More...
 
class  ColliFastEllipse
 This is an implementation of a a fast ellipse. More...
 
class  ColliFastObstacle
 This is an implementation of a a fast obstacle. More...
 
class  ColliFastRectangle
 This is an implementation of a a fast rectangle. More...
 
class  ColliObstacleMap
 This is an implementation of a collection of fast obstacles. More...
 
class  ComponentLogger
 Component logger. More...
 
struct  config_comment_msg_t
 Comment message. More...
 
struct  config_descriptor_t
 Basic config descriptor. More...
 
struct  config_erase_value_msg_t
 Erase value request. More...
 
struct  config_getval_msg_t
 Get value message. More...
 
struct  config_invval_msg_t
 Invalid value request message. More...
 
struct  config_list_entity_header_t
 Config list entity header. More...
 
struct  config_list_msg_t
 Config list message. More...
 
struct  config_string_value_t
 String value header indicating the string length. More...
 
struct  config_tag_msg_t
 Tag message. More...
 
struct  config_value_erased_msg_t
 Value erased message. More...
 
class  ConfigEntryNotFoundException
 Thrown if a config entry could not be found. More...
 
class  ConfigListContent
 Config list content. More...
 
class  ConfigNetworkHandler
 Fawkes Configuration Network Handler. More...
 
class  ConfigTypeMismatchException
 Thrown if there a type problem was detected for example if you tried to query a float with get_int(). More...
 
class  ConfigurableAspect
 Thread aspect to access configuration data. More...
 
class  ConfigurableAspectIniFin
 Initializer/finalizer for the ConfigurableAspect. More...
 
class  Configuration
 Interface for configuration handling. More...
 
class  ConfigurationChangeHandler
 Interface for configuration change handling. More...
 
class  ConfigurationException
 Generic configuration exception. More...
 
class  ConnectionDiedException
 Thrown if the connection died during an operation. More...
 
class  ConnectionDispatcher
 Watches network client events and dispatches them as signals. More...
 
class  ConsoleLogger
 Interface for logging to stderr. More...
 
class  CouldNotOpenConfigException
 Thrown if config could not be opened. More...
 
class  CouldNotOpenFileException
 File could not be opened. More...
 
class  DatagramSocket
 Datagram socket. More...
 
class  DependencyViolationException
 Dependency violation exception. More...
 
class  DestructionInProgressException
 Delete in progress. More...
 
class  DivisionByZeroException
 Division by zero. More...
 
class  DummyServiceBrowser
 Dummy Service browser. More...
 
class  DummyServicePublisher
 Dummy service publisher interface. More...
 
struct  dynamic_list_t
 Dynamic list type. More...
 
class  DynamicBuffer
 Dynamically growing buffer. More...
 
class  DynamicFileWebReply
 Dynamic raw file transfer reply. More...
 
class  DynamicMJPEGStreamWebReply
 Dynamic raw file transfer reply. More...
 
class  DynamicWebReply
 Dynamic web reply. More...
 
class  DynamixelServoInterface
 DynamixelServoInterface Fawkes BlackBoard Interface. More...
 
class  EclExternalBlackBoard
 Wrapper class for using the blackboard in the implementation of the external predicates. More...
 
class  EclExternalConfig
 Wrapper class for using the config in the implementation of the external predicates. More...
 
class  EclExternalRCSoftMapGraph
 Wrapper class for using the RCSoftMapGraph in the implementation of the external predicates. More...
 
class  EclipseDebuggerInterface
 EclipseDebuggerInterface Fawkes BlackBoard Interface. More...
 
struct  ellipse_struct
 Defines an ellipse. More...
 
class  EmergencyMotorInstruct
 This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot. More...
 
class  EscapeDriveModule
 Class Escape-Drive-Module. More...
 
class  EscapePotentialFieldDriveModule
 Class Escape-Drive-Module. More...
 
class  EscapePotentialFieldOmniDriveModule
 Class Escape-Drive-Module. More...
 
class  Exception
 Base class for exceptions in Fawkes. More...
 
struct  extent_2d_t
 Rectangular extent with unsigne integers. More...
 
class  FacerInterface
 FacerInterface Fawkes BlackBoard Interface. More...
 
class  FacialExpressionInterface
 FacialExpressionInterface Fawkes BlackBoard Interface. More...
 
class  FamListener
 File Alteration Monitor Listener. More...
 
class  FamThread
 FileAlterationMonitor thread wrapper. More...
 
struct  fawkes_message_header_t
 Fawkes network message header. More...
 
struct  fawkes_message_t
 Message as stored in local queues. More...
 
struct  fawkes_transfer_header_t
 Fawkes transfer header. More...
 
class  FawkesMainThread
 Fawkes default main thread. More...
 
class  FawkesNetworkAspect
 Thread aspect to participate in the Fawkes Network protocol. More...
 
class  FawkesNetworkAspectIniFin
 Initializer/finalizer for the FawkesNetworkAspect. More...
 
class  FawkesNetworkClient
 Simple Fawkes network client. More...
 
class  FawkesNetworkClientHandler
 Message handler for FawkesNetworkClient. More...
 
class  FawkesNetworkClientRecvThread
 Fawkes network client receive thread. More...
 
class  FawkesNetworkClientSendThread
 Fawkes network client send thread. More...
 
class  FawkesNetworkHandler
 Network handler abstract base class. More...
 
class  FawkesNetworkHub
 Fawkes Network Hub. More...
 
class  FawkesNetworkManager
 Fawkes Network Manager. More...
 
class  FawkesNetworkMessage
 Representation of a message that is sent over the network. More...
 
class  FawkesNetworkMessageContent
 Fawkes network message content. More...
 
class  FawkesNetworkMessageQueue
 A LockQueue of FawkesNetworkMessage to hold messages in inbound and outbound queues. More...
 
class  FawkesNetworkMessageTooBigException
 The given message size exceeds the limit. More...
 
class  FawkesNetworkServerClientSendThread
 Sending thread for a Fawkes client connected to the server. More...
 
class  FawkesNetworkServerClientThread
 Fawkes Network Client Thread for server. More...
 
class  FawkesNetworkServerThread
 Fawkes Network Thread. More...
 
class  FawkesNetworkTransceiver
 Fawkes Network Transceiver. More...
 
struct  field_line_struct
 Describes a field line. More...
 
struct  field_pos_t
 Position on the field. More...
 
class  File
 File utility methods. More...
 
class  FileAlterationMonitor
 Monitors files for changes. More...
 
class  FileLogger
 Interface for logging to a specified file. More...
 
class  FileReadException
 File could not be read. More...
 
class  FileWriteException
 Could not write to file. More...
 
class  ForwardDriveModule
 This is the Forward drive-module, for forward only movements. More...
 
class  ForwardOmniDriveModule
 This is the SlowForward drive-module, for slow forward only movements. More...
 
class  GameStateInterface
 GameStateInterface Fawkes BlackBoard Interface. More...
 
class  GazeboAspect
 Thread aspect to get access to a Gazebo node handle. More...
 
class  GazeboAspectIniFin
 GazeboAspect initializer/finalizer. More...
 
class  GazsimTimesource
 This time-source provides the simulation time from Gazebo in Fawkes. More...
 
class  GossipAspect
 Thread aspect to communicate with a group of robots. More...
 
class  GossipAspectIniFin
 GossipAspect initializer/finalizer. More...
 
class  GossipGroup
 Gossip group communication handler. More...
 
class  GossipGroupConfiguration
 Group configuration for initial groups. More...
 
class  GossipGroupManager
 Abstract class for a Gossip group manager. More...
 
class  GripperInterface
 GripperInterface Fawkes BlackBoard Interface. More...
 
class  HandlerAlreadyRegisteredException
 Client handler has already been registered. More...
 
class  HostInfo
 Host information. More...
 
class  HumanoidMotionInterface
 HumanoidMotionInterface Fawkes BlackBoard Interface. More...
 
class  HumanSkeletonInterface
 HumanSkeletonInterface Fawkes BlackBoard Interface. More...
 
class  HumanSkeletonProjectionInterface
 HumanSkeletonProjectionInterface Fawkes BlackBoard Interface. More...
 
class  HungarianMethod
 Hungarian method assignment solver. More...
 
class  IllegalArgumentException
 Expected parameter is missing. More...
 
class  IMUInterface
 IMUInterface Fawkes BlackBoard Interface. More...
 
class  Interface
 Base class for all Fawkes BlackBoard interfaces. More...
 
struct  interface_fieldinfo_t
 Interface field info list. More...
 
struct  interface_header_t
 This struct is used as header for interfaces in memory chunks. More...
 
class  InterfaceChooserDialog
 Blackboard interface chooser dialog. More...
 
class  InterfaceDispatcher
 Interface listener with dispatcher. More...
 
class  InterfaceFieldIterator
 Interface field iterator. More...
 
class  InterfaceFieldPointer
 Direct pointer to an interface field. More...
 
class  InterfaceInfo
 Interface info. More...
 
class  InterfaceInfoList
 Interface information list. More...
 
class  InterfaceInvalidException
 This exception is thrown if an interface is invalid and it is attempted to call read()/write(). More...
 
class  InterfaceInvalidMessageException
 This exception is thrown if a message has been queued in the interface which is not recognized by the interface. More...
 
class  InterfaceMediator
 Interface mediator interface. More...
 
class  InterfaceMessageEnqueueException
 This exception is thrown if a write has been attempted on a read-only interface. More...
 
class  InterfaceWriteDeniedException
 This exception is thrown if a write has been attempted on a read-only interface. More...
 
class  Interpolator
 Value interpolator. More...
 
class  InterruptedException
 The current system call has been interrupted (for instance by a signal). More...
 
class  InterruptibleBarrier
 A barrier is a synchronization tool which blocks until a given number of threads have reached the barrier. More...
 
class  IPCMessageQueue
 IPC message queue. More...
 
struct  jaco_arm_struct
 Jaco struct containing all components required for one arm. More...
 
struct  jaco_dual_arm_struct
 Jaco struct containing all components required for a dual-arm setup. More...
 
struct  jaco_target_struct_t
 Jaco target struct, holding information on a target. More...
 
class  JacoArm
 Abstract class for a Kinova Jaco Arm that we want to control. More...
 
class  JacoArmDummy
 Class for simulating a dummy Kinova Jaco Arm. More...
 
class  JacoArmKindrv
 Class for commanding a Kinova Jaco Arm, using libkindrv. More...
 
class  JacoBimanualInterface
 JacoBimanualInterface Fawkes BlackBoard Interface. More...
 
class  JacoInterface
 JacoInterface Fawkes BlackBoard Interface. More...
 
class  JointInterface
 JointInterface Fawkes BlackBoard Interface. More...
 
class  JoystickInterface
 JoystickInterface Fawkes BlackBoard Interface. More...
 
class  KalmanFilter1D
 One-dimensional Kalman filter implementation for single-precision floats. More...
 
class  KatanaController
 Abstract class for a Neuronics Katana controller. More...
 
class  KatanaControllerKni
 Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm. More...
 
class  KatanaControllerOpenrave
 Controller class for a Neuronics Katana, using libkni to interact with the real Katana arm. More...
 
class  KatanaInterface
 KatanaInterface Fawkes BlackBoard Interface. More...
 
class  KatanaMotorCrashedException
 At least one motor crashed. More...
 
class  KatanaNoSolutionException
 No joint configuration for desired target found. More...
 
class  KatanaOutOfRangeException
 At least one motor is out of range. More...
 
class  KatanaUnsupportedException
 Unsupported command. More...
 
class  KDLParserModelGenerationFailedException
 URDF Model generation failed for unknown reasons. More...
 
class  KDLParserUnknownJointTypeException
 Unknown Joint Type. More...
 
class  KeyValueInterface
 KeyValueInterface Fawkes BlackBoard Interface. More...
 
class  KickerInterface
 KickerInterface Fawkes BlackBoard Interface. More...
 
class  Laser1080Interface
 Laser1080Interface Fawkes BlackBoard Interface. More...
 
class  Laser360Interface
 Laser360Interface Fawkes BlackBoard Interface. More...
 
class  Laser720Interface
 Laser720Interface Fawkes BlackBoard Interface. More...
 
class  LaserClusterInterface
 LaserClusterInterface Fawkes BlackBoard Interface. More...
 
class  LaserLineInterface
 LaserLineInterface Fawkes BlackBoard Interface. More...
 
class  LaserOccupancyGrid
 This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed purposes. More...
 
class  LedInterface
 LedInterface Fawkes BlackBoard Interface. More...
 
class  LibLogger
 Library logger. More...
 
class  LinearInterpolator
 Linear value interpolator. More...
 
class  LinearMotorInstruct
 This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot. More...
 
class  LocalBlackBoard
 Local BlackBoard. More...
 
class  LocalizationInterface
 LocalizationInterface Fawkes BlackBoard Interface. More...
 
class  LockHashMap
 Hash map with a lock. More...
 
class  LockHashSet
 Hash set with a lock. More...
 
class  LockList
 List with a lock. More...
 
class  LockMap
 Map with a lock. More...
 
class  LockMultiMap
 Multi-Map with a lock. More...
 
class  LockPtr
 LockPtr<> is a reference-counting shared lockable smartpointer. More...
 
class  LockQueue
 Queue with a lock. More...
 
class  LockSet
 Set with a lock. More...
 
class  LockVector
 Vector with a lock. More...
 
class  LogFileDescriptorToLog
 Redirect a file descriptor to the log. More...
 
class  Logger
 Interface for logging. More...
 
class  LoggerAspect
 Thread aspect that allows to provide a logger to Fawkes. More...
 
class  LoggerAspectIniFin
 Initializer/finalizer for the LoggerAspect. More...
 
class  LoggerEmployer
 Logger employer The LoggerEmployer shall pipe all log messages of the system to added loggers. More...
 
class  LoggerFactory
 Logger factory. More...
 
class  LoggingAspect
 Thread aspect to log output. More...
 
class  LoggingAspectIniFin
 Initializer/finalizer for the LoggingAspect. More...
 
class  LogView
 Log View widget. More...
 
class  LuaContext
 Lua C++ wrapper. More...
 
class  LuaContextWatcher
 Lua context watcher. More...
 
class  LuaErrorException
 Lua error exception. More...
 
class  LuaInterfaceImporter
 Lua interface importer. More...
 
class  LuaRuntimeException
 Lua runtime exception. More...
 
class  LuaTriggerManager
 Lua Trigger Manager. More...
 
class  MainLoopAspect
 Thread aspect that allows to replace the main loop of the main application of Fawkes. More...
 
class  MainLoopAspectIniFin
 Initializer/finalizer for the MainLoopAspect. More...
 
class  MainLoopEmployer
 Main loop employer The MainLoopEmployer calls the main loop for execution. More...
 
class  MemAutoFree
 Automatically free memory on destruction. More...
 
class  MemoryConfiguration
 In-memory configuration store. More...
 
class  Message
 Base class for all messages passed through interfaces in Fawkes BlackBoard. More...
 
class  MessageAlreadyQueuedException
 Message already enqueued exception. More...
 
class  MessageDecryptionException
 Message decryption failed. More...
 
class  MessageDecryptor
 Message decryptor. More...
 
class  MessageEncryptionException
 Message encryption failed. More...
 
class  MessageEncryptor
 Message encryptor. More...
 
class  MessageMediator
 Message mediator interface. More...
 
class  MessageQueue
 Message queue used in interfaces. More...
 
class  MessageTooBigException
 Message did not fit into buffer. More...
 
class  MissingArgumentException
 Thrown if required argument was missing. More...
 
class  MissingParameterException
 Expected parameter is missing. More...
 
class  Module
 Dynamic module loader for Linux, FreeBSD, and MacOS X. More...
 
class  ModuleManager
 Dynamic module manager. More...
 
class  ModuleOpenException
 Opening a module failed. More...
 
class  MongoDBAspect
 Thread aspect to access MongoDB. More...
 
class  MongoDBAspectIniFin
 MongoDBAspect initializer/finalizer. More...
 
class  MongoDBConnCreator
 Interface for a MongoDB connection creator. More...
 
struct  motor_t
 Struct containing angle of current motor, its number in OpenRAVE and corresponding motor number of real devices. More...
 
class  MotorInterface
 MotorInterface Fawkes BlackBoard Interface. More...
 
class  MulticastDatagramSocket
 Multicast datagram socket. More...
 
class  MultiInterfaceChooserDialog
 Blackboard interface chooser dialog that supports multiple choices. More...
 
class  MultiLogger
 Log through multiple loggers. More...
 
class  Mutex
 Mutex mutual exclusion lock. More...
 
class  MutexLocker
 Mutex locking helper. More...
 
class  NaoJointPositionInterface
 NaoJointPositionInterface Fawkes BlackBoard Interface. More...
 
class  NaoJointStiffnessInterface
 NaoJointStiffnessInterface Fawkes BlackBoard Interface. More...
 
class  NaoQiAspect
 Thread aspect to get access to NaoQi broker. More...
 
class  NaoQiAspectIniFin
 NaoQiAspect initializer/finalizer. More...
 
class  NaoSensorInterface
 NaoSensorInterface Fawkes BlackBoard Interface. More...
 
class  NavGraph
 Topological map graph. More...
 
class  NavGraphAspect
 Thread aspect to access NavGraph. More...
 
class  NavGraphAspectIniFin
 NavGraphAspect initializer/finalizer. More...
 
class  NavGraphConstraintRepo
 Constraint repository to maintain blocks on nodes. More...
 
class  NavGraphEdge
 Topological graph edge. More...
 
class  NavGraphEdgeConstraint
 Constraint that can be queried to check if an edge is blocked. More...
 
class  NavGraphEdgeCostConstraint
 Constraint that can be queried for an edge cost factor. More...
 
class  NavGraphGeneratorInterface
 NavGraphGeneratorInterface Fawkes BlackBoard Interface. More...
 
class  NavGraphGeneratorVoronoi
 Generate navgraph using a Voronoi diagram. More...
 
class  NavGraphNode
 Topological graph node. More...
 
class  NavGraphNodeConstraint
 Constraint that can be queried to check if a node is blocked. More...
 
class  NavGraphPath
 Class representing a path for a NavGraph. More...
 
class  NavGraphPolygonConstraint
 Constraint that blocks nodes within and edges touching a polygon. More...
 
class  NavGraphPolygonEdgeConstraint
 Constraint that blocks nodes within and edges touching a polygon. More...
 
class  NavGraphPolygonNodeConstraint
 Constraint that blocks nodes inside a polygon. More...
 
class  NavGraphSearchState
 Graph-based path planner A* search state. More...
 
class  NavGraphStaticListEdgeConstraint
 Constraint that holds a list of edges to block. More...
 
class  NavGraphStaticListEdgeCostConstraint
 Constraint that hold cost factors for a static list of edges. More...
 
class  NavGraphStaticListNodeConstraint
 Constraint that holds a list of nodes to block. More...
 
class  NavGraphTimedReservationListEdgeConstraint
 Constraint that holds a list of edges to block with timeouts. More...
 
class  NavGraphTimedReservationListNodeConstraint
 Constraint that holds a list of nodes to block with timeouts. More...
 
class  NavigatorInterface
 NavigatorInterface Fawkes BlackBoard Interface. More...
 
class  NavPathInterface
 NavPathInterface Fawkes BlackBoard Interface. More...
 
class  NetworkAcceptorThread
 Network Acceptor Thread. More...
 
class  NetworkAspect
 Thread aspect for network communication. More...
 
class  NetworkAspectIniFin
 Initializer/finalizer for the NetworkAspect. More...
 
class  NetworkConfiguration
 Remote configuration via Fawkes net. More...
 
class  NetworkIncomingConnectionHandler
 Interface for handling incoming connections. More...
 
class  NetworkLogger
 Interface for logging to network clients. More...
 
class  NetworkLoggerMessageContent
 Message sent over the network with a log message. More...
 
class  NetworkNameResolver
 Network name and address resolver. More...
 
class  NetworkNameResolverThread
 Worker thread for NetworkNameResolver. More...
 
class  NetworkService
 Representation of a service announced or found via service discovery (i.e. More...
 
class  NonPointerTypeExpectedException
 Non-pointer type expected. More...
 
class  NotImplementedException
 Called method has not been implemented. More...
 
class  NotLockedException
 Operation on unlocked object. More...
 
class  NullPointerException
 A NULL pointer was supplied where not allowed. More...
 
class  ObjectPositionInterface
 ObjectPositionInterface Fawkes BlackBoard Interface. More...
 
class  OccupancyGrid
 Occupancy Grid class for general use. More...
 
class  OneToManyDependency
 One-to-Many dependency constraint. More...
 
class  OpenCVStereoParamsInterface
 OpenCVStereoParamsInterface Fawkes BlackBoard Interface. More...
 
class  OpenNiAspect
 Thread aspect to get access to the OpenNI context. More...
 
class  OpenNiAspectIniFin
 OpenNiAspect initializer/finalizer. More...
 
class  OpenPRSAspect
 OpenPRS kernel creation and communication aspect. More...
 
class  OpenPRSAspectIniFin
 OpenPRSAspect initializer/finalizer. More...
 
class  OpenPRSComm
 OpenPRS communication wrapper. More...
 
class  OpenPRSKernelManager
 OpenPRS kernel manager. More...
 
class  OpenPRSManagerAspect
 Thread aspect access the OpenPRS kernel manager. More...
 
class  OpenPRSManagerAspectIniFin
 OpenPRSManagerAspect initializer/finalizer. More...
 
class  OpenPRSMessagePasserProxy
 Proxy for the OpenPRS server communication. More...
 
class  OpenPRSServerProxy
 Proxy for the OpenPRS server communication. More...
 
class  OpenRaveAspect
 Thread aspect create, update, and graph round-robin databases (RRD). More...
 
class  OpenRaveAspectIniFin
 OpenRaveAspect initializer/finalizer. More...
 
class  OpenRaveConnector
 Interface for a OpenRave connection creator. More...
 
class  OpenRaveEnvironment
 OpenRaveEnvironment class. More...
 
class  OpenRaveInterface
 OpenRaveInterface Fawkes BlackBoard Interface. More...
 
class  OpenRaveManipulator
 Class containing information about all manipulator motors. More...
 
class  OpenRaveManipulatorKatana6M180
 Class containing information about all katana6M180 motors. More...
 
class  OpenRaveManipulatorKinovaJaco
 Class containing information about all Kinova Jaco motors. More...
 
class  OpenRaveManipulatorNeuronicsKatana
 Class containing information about all neuronics-katana motors. More...
 
class  OpenRaveRobot
 OpenRAVE Robot class. More...
 
class  OutOfBoundsException
 Index out of bounds. More...
 
class  OutOfMemoryException
 System ran out of memory and desired operation could not be fulfilled. More...
 
class  PanTiltInterface
 PanTiltInterface Fawkes BlackBoard Interface. More...
 
class  PathParser
 Path parser. More...
 
class  PclDatabaseMergeInterface
 PclDatabaseMergeInterface Fawkes BlackBoard Interface. More...
 
class  PclDatabaseRetrieveInterface
 PclDatabaseRetrieveInterface Fawkes BlackBoard Interface. More...
 
class  PclDatabaseStoreInterface
 PclDatabaseStoreInterface Fawkes BlackBoard Interface. More...
 
class  Plugin
 Plugin interface class. More...
 
struct  plugin_list_msg_t
 Plugin list message. More...
 
struct  plugin_load_failed_msg_t
 Plugin load failed. More...
 
struct  plugin_load_msg_t
 Load plugin message. More...
 
struct  plugin_loaded_msg_t
 Plugin loaded message. More...
 
struct  plugin_unload_failed_msg_t
 Plugin unload failed. More...
 
struct  plugin_unload_msg_t
 Unload plugin message. More...
 
struct  plugin_unloaded_msg_t
 Plugin unloaded message. More...
 
class  PluginDirectorAspect
 Thread aspect to access the PluginManager. More...
 
class  PluginDirectorAspectIniFin
 Initializer/finalizer for the PluginDirectorAspect. More...
 
class  PluginListMessage
 Plugin list message. More...
 
class  PluginLoader
 This class manages plugins. More...
 
class  PluginLoadException
 This exception is thrown if the requested plugin could not be loaded. More...
 
class  PluginManager
 Fawkes Plugin Manager. More...
 
class  PluginManagerListener
 PluginManager listener. More...
 
class  PluginNetworkHandler
 Fawkes Plugin Network Handler. More...
 
class  PluginTreeView
 A TreeView class to list available plugins und trigger their loading/unloading. More...
 
class  PluginUnloadException
 This exception is thrown if the requested plugin could not be unloaded. More...
 
struct  point_6D_struct
 Defines a point with 6-degrees of freedom. More...
 
struct  point_struct
 Point with cartesian coordinates as signed integers. More...
 
class  PointCloudAspect
 Thread aspect to provide and access point clouds. More...
 
class  PointCloudAspectIniFin
 Initializer/finalizer for the PointCloudAspect. More...
 
class  PointCloudManager
 Point Cloud manager. More...
 
struct  polar_coord_2d_t
 Polar coordinates. More...
 
struct  polar_coord_3d_t
 Polar coordinates. More...
 
class  Position2DTrackInterface
 Position2DTrackInterface Fawkes BlackBoard Interface. More...
 
class  Position3DInterface
 Position3DInterface Fawkes BlackBoard Interface. More...
 
class  QuadraticMotorInstruct
 This module is a class for validity checks of drive commands and sets those things with respect to the physical borders of the robot. More...
 
class  ReadWriteLock
 Read/write lock to allow multiple readers but only a single writer on the resource at a time. More...
 
struct  rectangle_t
 Rectangle (unsigned integers) More...
 
class  RecursiveMutex
 Recursive mutex. More...
 
class  RefCount
 Reference counting base class. More...
 
class  RefCountRWLock
 Read/write lock with reference counting. More...
 
class  RefPtr
 RefPtr<> is a reference-counting shared smartpointer. More...
 
class  RemoteBlackBoard
 Remote BlackBoard. More...
 
class  RoboShape
 This is a class containing all roboshape information. More...
 
class  RoboShapeColli
 This class is mainly the same as the basic class with the difference that all data is precalculated or estimated. More...
 
class  RobotinoSensorInterface
 RobotinoSensorInterface Fawkes BlackBoard Interface. More...
 
class  Roomba500Interface
 Roomba500Interface Fawkes BlackBoard Interface. More...
 
class  ROSAspect
 Thread aspect to get access to a ROS node handle. More...
 
class  ROSAspectIniFin
 ROSAspect initializer/finalizer. More...
 
class  RRDArchive
 RRD Archive description. More...
 
class  RRDAspect
 Thread aspect create, update, and graph round-robin databases (RRD). More...
 
class  RRDAspectIniFin
 RRDAspect initializer/finalizer. More...
 
class  RRDDataSource
 Class to represent a RRD data source. More...
 
class  RRDDefinition
 RRD Definition. More...
 
class  RRDGraphArea
 Print graph area. More...
 
class  RRDGraphDataDefinition
 Represent data definition in graph arguments. More...
 
class  RRDGraphDefinition
 Class representing a graph definition. More...
 
class  RRDGraphElement
 Interface for graph elements. More...
 
class  RRDGraphGPrint
 Print string inside graph. More...
 
class  RRDGraphLine
 Print graph line. More...
 
class  RRDManager
 Interface for a RRD connection creator. More...
 
class  RWLockList
 List with a read/write lock. More...
 
class  RWLockMap
 Hash map with a lock. More...
 
class  RWLockQueue
 Queue with a read/write lock. More...
 
class  RWLockVector
 Vector with a lock. More...
 
class  ScopedClassItemTracker
 Scoped time tracking for specific item. More...
 
class  ScopedRWLock
 Scoped read/write lock. More...
 
class  Search
 This is the plan class. More...
 
class  SelectDriveMode
 This class selects the correct drive mode and calls the appopriate drive component. More...
 
class  SemaphoreSet
 IPC semaphore set. More...
 
class  SemCannotLockException
 Cannot lock semaphore. More...
 
class  SemCannotSetValException
 Cannot set value on semaphore. More...
 
class  SemCannotUnlockException
 Cannot unlock semaphore. More...
 
class  SemInvalidException
 Semaphore or semaphore set invalid. More...
 
class  ServiceBrowseHandler
 Interface for class that process browse results. More...
 
class  ServiceBrowser
 Service browser. More...
 
class  ServiceChooserDialog
 Service chooser dialog. More...
 
class  ServiceModel
 Abstract base class for widgets that allow to view the detected services of a certain type. More...
 
class  ServicePublisher
 Service publisher interface. More...
 
class  ServiceSelectorCBE
 This widget consists of a Gtk::ComboBox and a Gtk::Button. More...
 
class  SharedMemory
 Shared memory segment. More...
 
class  SharedMemoryHeader
 Interface for shared memory header. More...
 
class  SharedMemoryLister
 Format list output for shared memory segments. More...
 
class  SharedMemoryRegistry
 Shared memory registry. More...
 
class  ShmAddrOutOfBoundsException
 The address points out of the shared memory. More...
 
class  ShmCouldNotAttachAddrDepException
 The shared memory is set adress-dependend but could not be opened at the appropriate address. More...
 
class  ShmCouldNotAttachException
 Could not attach to shared memory segment. More...
 
class  ShmDoesNotExistException
 Shared memory segment does not exist. More...
 
class  ShmInconsistentSegmentSizeException
 Memory size does not match. More...
 
class  ShmNoHeaderException
 No shared memory header set before attach() More...
 
class  ShmPtrOutOfBoundsException
 The pointer does not point inside the shared memory. More...
 
class  SignalHandler
 Interface for signal handling. More...
 
class  SignalManager
 System signal manager. More...
 
class  SimulatorTimeSource
 Simulation time source. More...
 
class  SinusoidalInterpolator
 Sinusoidal value interpolator. More...
 
class  SkillerDebugInterface
 SkillerDebugInterface Fawkes BlackBoard Interface. More...
 
class  SkillerInterface
 SkillerInterface Fawkes BlackBoard Interface. More...
 
class  SoccerPenaltyInterface
 SoccerPenaltyInterface Fawkes BlackBoard Interface. More...
 
struct  SockAddrCompare
 Compare concept comparator for sockaddr. More...
 
class  Socket
 Socket base class. More...
 
class  SocketException
 Socket exception. More...
 
class  SpeechRecognitionInterface
 SpeechRecognitionInterface Fawkes BlackBoard Interface. More...
 
class  SpeechSynthInterface
 SpeechSynthInterface Fawkes BlackBoard Interface. More...
 
class  Spinlock
 Spin lock. More...
 
class  SQLiteConfiguration
 Configuration storage using SQLite. More...
 
class  StaticWebReply
 Static web reply. More...
 
class  StopDriveModule
 Stop-Drive-Module. More...
 
class  StreamSocket
 TCP stream socket over IP. More...
 
class  StringContent
 Content for a variable length string. More...
 
class  StringConversions
 Utility class that holds string methods. More...
 
class  StringEquality
 String equality checker. More...
 
class  StringLess
 String less than test. More...
 
class  SubProcess
 Sub-process execution with stdin/stdout/stderr redirection. More...
 
class  SwitchInterface
 SwitchInterface Fawkes BlackBoard Interface. More...
 
class  SyntaxErrorException
 Syntax error. More...
 
class  SyslogLogger
 Interface for logging to syslog. More...
 
struct  target_t
 Struct containing information about the current target. More...
 
class  TestInterface
 TestInterface Fawkes BlackBoard Interface. More...
 
class  Thread
 Thread class encapsulation of pthreads. More...
 
class  ThreadCollector
 Thread collector. More...
 
class  ThreadFinalizer
 Thread finalizer interface. More...
 
class  ThreadInitializer
 Thread initializer interface. More...
 
class  ThreadList
 List of threads. More...
 
class  ThreadListNotSealedException
 Thread list not sealed exception. More...
 
class  ThreadListSealedException
 Thread list sealed exception. More...
 
class  ThreadManager
 Base application thread manager. More...
 
class  ThreadNotificationListener
 Thread notification listener interface. More...
 
class  ThreadProducerAspect
 Aspect for thread producing threads. More...
 
class  ThreadProducerAspectIniFin
 Initializer/finalizer for the ThreadProducerAspect. More...
 
class  Time
 A class for handling time. More...
 
class  TimeoutException
 The current system call has timed out before completion. More...
 
class  TimeSource
 TimeSource interface. More...
 
class  TimeSourceAspect
 Thread aspect that allows to provide a time source to the Fawkes clock. More...
 
class  TimeSourceAspectIniFin
 Initializer/finalizer for the TimeSourceAspect. More...
 
class  TimeTracker
 Time tracking utility. More...
 
class  TimeWait
 Time wait utility. More...
 
class  TracWikiHeadingFormatter
 Translate Trac wiki heading syntax to HTML. More...
 
class  TransformAspect
 Thread aspect to access the transform system. More...
 
class  TransformAspectIniFin
 Initializer/finalizer for the TransformAspect. More...
 
class  TransformInterface
 TransformInterface Fawkes BlackBoard Interface. More...
 
class  TwoLinesCellRenderer
 Gtk cell renderer for two lines of text in a cell. More...
 
class  TypeMismatchException
 Type mismatch. More...
 
class  UnableToOpenFileException
 Opening a file failed for some reason. More...
 
class  UniquenessConstraint
 Uniqueness constraint. More...
 
class  UniquenessViolationException
 Uniqueness violation exception. More...
 
class  UnknownArgumentException
 Thrown if unknown argument was supplied. More...
 
class  UnknownLoggerTypeException
 Unknown logger type exception. More...
 
class  UnknownTypeException
 Unknown type. More...
 
struct  upoint_t
 Point with cartesian coordinates as unsigned integers. More...
 
class  URDFColladaNotSupportedException
 Tried to to parse Collada data which is not supported. More...
 
class  URDFXMLDocumentParseErrorException
 Failed to parse XML Document. More...
 
class  URDFXMLElementParseErrorException
 Failed to parse XML Element. More...
 
class  VisionAspect
 Thread aspect to use in FireVision apps. More...
 
class  VisionAspectIniFin
 Initializer/finalizer for the VisionAspect. More...
 
class  VisionMasterAspect
 Vision Master Aspect. More...
 
class  VisionMasterAspectIniFin
 Initializer/finalizer for the VisionMasterAspect. More...
 
class  VisualDisplay2DInterface
 VisualDisplay2DInterface Fawkes BlackBoard Interface. More...
 
class  WaitCondition
 Wait until a given condition holds. More...
 
class  Watch
 This is a stop-watch. More...
 
class  WebErrorPageReply
 Static error page reply. More...
 
class  WebNavManager
 Manage visible navigation entries. More...
 
class  WebPageFooterGenerator
 Interface for HTML footer generator. More...
 
class  WebPageHeaderGenerator
 Interface for HTML header generator. More...
 
class  WebPageReply
 Basic page reply. More...
 
class  WebRedirectReply
 Redirect reply for webview. More...
 
class  WebReply
 Basic web reply. More...
 
class  WebRequest
 Web request meta data carrier. More...
 
class  WebRequestDispatcher
 Web request dispatcher. More...
 
class  WebRequestManager
 Probides information about ongoing requests. More...
 
class  WebRequestProcessor
 Abstract web request processor. More...
 
class  WebServer
 Encapsulation of the libmicrohttpd webserver. More...
 
class  WebUrlManager
 Manage URL mappings. More...
 
class  WebUserVerifier
 Interface for user verification. More...
 
class  WebviewAccessLog
 Webview access_log writer. More...
 
class  WebviewAspect
 Thread aspect to provide web pages via Webview. More...
 
class  WebviewAspectIniFin
 Initializer/finalizer for the WebviewAspect. More...
 
class  WebviewJpegStreamProducer
 JPEG stream producer. More...
 
class  YamlConfiguration
 Configuration store using YAML documents. More...
 

Typedefs

typedef const char *(* PluginDescriptionFunc) ()
 Plugin description function for the shared library. More...
 
typedef const char *(* PluginDependenciesFunc) ()
 Plugin depdendency function for the shared library. More...
 
typedef void(* InterfaceDestroyFunc) (Interface *interface)
 Interface destructor function for the shared library. More...
 
typedef Interface *(* InterfaceFactoryFunc) (void)
 Interface generator function for the shared library Do not use directly. More...
 
typedef std::map< int, std::string > interface_enum_map_t
 Map of enum integer to string values. More...
 
typedef std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > Polygon2D
 Polygon as a vector of 2D points. More...
 
typedef struct fawkes::point_struct point_t
 Point with cartesian coordinates as signed integers. More...
 
typedef struct fawkes::cart_coord_2d_struct cart_coord_2d_t
 Cartesian coordinates (2D). More...
 
typedef struct fawkes::field_line_struct field_line_t
 Describes a field line. More...
 
typedef struct fawkes::arc_struct arc_t
 Defines an arc (or circle) More...
 
typedef struct fawkes::ellipse_struct ellipse_t
 Defines an ellipse. More...
 
typedef struct fawkes::point_6D_struct point_6D_t
 Defines a point with 6-degrees of freedom. More...
 
typedef float Probability
 A probability type. More...
 
typedef struct jaco_arm_struct jaco_arm_t
 Jaco struct containing all components required for one arm. More...
 
typedef struct jaco_dual_arm_struct jaco_dual_arm_t
 Jaco struct containing all components required for a dual-arm setup. More...
 
typedef std::vector< float > jaco_trajec_point_t
 A trajectory point. More...
 
typedef std::vector< jaco_trajec_point_tjaco_trajec_t
 A trajectory. More...
 
typedef enum fawkes::jaco_arm_config_enum jaco_arm_config_t
 The setup-configuration of the arm. More...
 
typedef enum fawkes::jaco_target_type_enum jaco_target_type_t
 The type of a target. More...
 
typedef enum fawkes::jaco_trajec_state_enum jaco_trajec_state_t
 The state of a trajectory. More...
 
typedef struct fawkes::jaco_target_struct_t jaco_target_t
 Jaco target struct, holding information on a target. More...
 
typedef std::list< RefPtr< jaco_target_t > > jaco_target_queue_t
 FIFO target queue, holding RefPtr to targets. More...
 
typedef RefPtr< OpenRaveEnvironmentOpenRaveEnvironmentPtr
 RefPtr to OpenRaveEnvironment. More...
 
typedef RefPtr< OpenRaveRobotOpenRaveRobotPtr
 RefPtr to OpenRaveRobot. More...
 
typedef RefPtr< OpenRaveManipulatorOpenRaveManipulatorPtr
 RefPtr to OpenRaveManipulator. More...
 

Enumerations

enum  blackboard_msgid_t {
  MSG_BB_LIST_ALL = 0, MSG_BB_INTERFACE_LIST = 1, MSG_BB_OPEN_FOR_READING = 2, MSG_BB_OPEN_FOR_WRITING = 3,
  MSG_BB_OPEN_SUCCESS = 4, MSG_BB_OPEN_FAILURE = 5, MSG_BB_CLOSE = 6, MSG_BB_WRITE = 7,
  MSG_BB_INTERFACE_MESSAGE = 8, MSG_BB_DATA_CHANGED = 9, MSG_BB_READER_ADDED = 10, MSG_BB_READER_REMOVED = 11,
  MSG_BB_WRITER_ADDED = 12, MSG_BB_WRITER_REMOVED = 13, MSG_BB_INTERFACE_CREATED = 14, MSG_BB_INTERFACE_DESTROYED = 15,
  MSG_BB_LIST = 16
}
 BlackBoard network message types. More...
 
enum  blackboard_neterror_t { BB_ERR_UNKNOWN_ERR, BB_ERR_UNKNOWN_TYPE, BB_ERR_HASH_MISMATCH, BB_ERR_WRITER_EXISTS }
 Error codes. More...
 
enum  interface_fieldtype_t {
  IFT_BOOL, IFT_INT8, IFT_UINT8, IFT_INT16,
  IFT_UINT16, IFT_INT32, IFT_UINT32, IFT_INT64,
  IFT_UINT64, IFT_FLOAT, IFT_DOUBLE, IFT_STRING,
  IFT_BYTE, IFT_ENUM
}
 Interface field type. More...
 
enum  plugin_message_type_t {
  MSG_PLUGIN_LOAD = 1, MSG_PLUGIN_LOADED = 2, MSG_PLUGIN_LOAD_FAILED = 3, MSG_PLUGIN_UNLOAD = 4,
  MSG_PLUGIN_UNLOADED = 5, MSG_PLUGIN_UNLOAD_FAILED = 6, MSG_PLUGIN_LIST_AVAIL = 7, MSG_PLUGIN_AVAIL_LIST = 8,
  MSG_PLUGIN_AVAIL_LIST_FAILED = 9, MSG_PLUGIN_LIST_LOADED = 10, MSG_PLUGIN_LOADED_LIST = 11, MSG_PLUGIN_LOADED_LIST_FAILED = 12,
  MSG_PLUGIN_SUBSCRIBE_WATCH = 13, MSG_PLUGIN_UNSUBSCRIBE_WATCH = 14
}
 Plugin message type. More...
 
enum  colli_state_t { NothingToDo, OrientAtTarget, DriveToOrientPoint, DriveToTarget }
 Colli States. More...
 
enum  colli_escape_mode_t { potential_field, basic }
 Colli Escape modes. More...
 
enum  colli_motor_instruct_mode_t { linear, quadratic }
 Colli motor_instuct modes. More...
 
enum  colli_drive_restriction_t { differential, omnidirectional }
 Colli drive restrictions. More...
 
enum  jaco_arm_config_enum { CONFIG_SINGLE, CONFIG_LEFT, CONFIG_RIGHT }
 The setup-configuration of the arm. More...
 
enum  jaco_target_type_enum {
  TARGET_CARTESIAN, TARGET_ANGULAR, TARGET_GRIPPER, TARGET_READY,
  TARGET_RETRACT
}
 The type of a target. More...
 
enum  jaco_trajec_state_enum {
  TRAJEC_SKIP, TRAJEC_WAITING, TRAJEC_PLANNING, TRAJEC_READY,
  TRAJEC_EXECUTING, TRAJEC_IK_ERROR, TRAJEC_PLANNING_ERROR
}
 The state of a trajectory. More...
 
enum  euler_rotation_t { EULER_ZXZ, EULER_ZYZ, EULER_ZYX }
 Euler rotations. More...
 
enum  target_type_t {
  TARGET_NONE, TARGET_JOINTS, TARGET_TRANSFORM, TARGET_RELATIVE,
  TARGET_RELATIVE_EXT, TARGET_IKPARAM, TARGET_RAW
}
 Target types. More...
 
enum  worldinfo_msl_gamestate_t {
  GS_FROZEN = 0, GS_PLAY = 1, GS_KICK_OFF = 2, GS_DROP_BALL = 3,
  GS_PENALTY = 4, GS_CORNER_KICK = 5, GS_THROW_IN = 6, GS_FREE_KICK = 7,
  GS_GOAL_KICK = 8, GS_HALF_TIME = 9
}
 Game states for RoboCup MSL. More...
 
enum  worldinfo_spl_gamestate_t {
  GS_SPL_INITIAL = 0, GS_SPL_READY = 1, GS_SPL_SET = 2, GS_SPL_PLAY = 3,
  GS_SPL_FINISHED = 4
}
 Game states for RoboCup SPL. More...
 
enum  worldinfo_gamestate_team_t { TEAM_NONE = 0, TEAM_CYAN = 1, TEAM_MAGENTA = 2, TEAM_BOTH = 3 }
 Team. More...
 
enum  worldinfo_gamestate_goalcolor_t { GOAL_BLUE = 0, GOAL_YELLOW = 1 }
 Goal color. More...
 
enum  worldinfo_gamestate_half_t { HALF_FIRST = 0, HALF_SECOND = 1 }
 Game time half. More...
 
enum  worldinfo_penalty_t {
  PENALTY_NONE = 0, PENALTY_BALL_HOLDING = 1, PENALTY_GOALIE_PUSHING = 2, PENALTY_PLAYER_PUSHING = 3,
  PENALTY_ILLEGAL_DEFENDER = 4, PENALTY_ILLEGAL_DEFENSE = 5, PENALTY_OBSTRUCTION = 6, PENALTY_REQ_FOR_PICKUP = 7,
  PENALTY_LEAVING = 8, PENALTY_DAMAGE = 9, PENALTY_MANUAL = 10
}
 Robot penalty code. More...
 

Functions

BlackBoard::ListenerRegisterFlag operator| (const BlackBoard::ListenerRegisterFlag &a, const BlackBoard::ListenerRegisterFlag &b)
 Concatenation of register flags. More...
 
BlackBoard::ListenerRegisterFlag operator & (const BlackBoard::ListenerRegisterFlag &a, const BlackBoard::ListenerRegisterFlag &b)
 Testing of register flags. More...
 
template<typename T >
static T get_value_as (YamlConfigurationNode *root, const char *path)
 Retrieve value casted to given type T. More...
 
template<typename T >
static std::vector< T > get_list (YamlConfigurationNode *root, const char *path)
 Retrieve value casted to given type T. More...
 
template<typename T >
static bool is_type (YamlConfigurationNode *root, const char *path)
 Check if value is of given type T. More...
 
static void dump_table (FILE *f, ::sqlite3 *tdb, const char *table_name)
 Dump table. More...
 
static std::string abs_cfg_path (const std::string &path)
 Create absolute config path. More...
 
template<typename T >
static T get_value_as (YamlConfigurationNode *root, const char *path)
 Retrieve value casted to given type T. More...
 
template<typename T >
static std::vector< T > get_list (YamlConfigurationNode *root, const char *path)
 Retrieve value casted to given type T. More...
 
template<typename T >
static bool is_type (YamlConfigurationNode *root, const char *path)
 Check if value is of given type T. More...
 
static bool contains (Point_map points, Point_2 point, std::string &name, float near_threshold)
 Check if a point is already contained in a map. More...
 
static std::string genname (unsigned int &i)
 Generate a new name. More...
 
static void operator>> (const YAML::Node &n, NavGraphNode &node)
 Read topological map node from YAML iterator. More...
 
static void operator>> (const YAML::Node &n, NavGraphEdge &edge)
 Read topological map edge from YAML iterator. More...
 
void read_default_properties (NavGraph *graph, YAML::Node &doc)
 Read default properties for graph from YAML node. More...
 
NavGraphload_yaml_navgraph (std::string filename)
 Load topological map graph stored in RCSoft format. More...
 
void save_yaml_navgraph (std::string filename, NavGraph *graph)
 Save navgraph to YAML file. More...
 
static int sock_addr_cmp_addr (const struct sockaddr *a, const struct sockaddr *b)
 Compare two sockaddr structures. More...
 
size_t sock_addr_size (const struct sockaddr *a)
 Get canonical size of sockaddr structure. More...
 
float deg2rad (float deg)
 Convert an angle given in degrees to radians. More...
 
float rad2deg (float rad)
 Convert an angle given in radians to degrees. More...
 
float distance (float x1, float y1, float x2, float y2)
 Get distance between two 2D cartesian coordinates. More...
 
float normalize_mirror_rad (float angle_rad)
 Normalize angle in radian between -PI (inclusive) and PI (exclusive). More...
 
float normalize_rad (float angle_rad)
 Normalize angle in radian between 0 (inclusive) and 2*PI (exclusive). More...
 
float normalize_bigmirror_rad (float angle_rad)
 Normalizes angle in radian between -3*PI and 3*PI. More...
 
float angle_distance (float angle_rad1, float angle_rad2)
 Determines the distance between two angle provided as radians. More...
 
float angle_distance_signed (float angle_from, float angle_to)
 Determines the signed distance between from "angle_from" to "angle_to" provided as radians. More...
 
double sqr (double x)
 Fast square multiplication. More...
 
float sqr (float x)
 Fast square multiplication. More...
 
int sqr (int x)
 Fast square multiplication. More...
 
unsigned long sqr (unsigned long x)
 Fast square multiplication. More...
 
float point_dist (float x1, float y1, float x2, float y2)
 Get distance of two points. More...
 
bool points_different (float x1, float y1, float x2, float y2, float threshold=1e-4)
 Check if two points are different with regard to a given threshold. More...
 
void cart2polar2d (float cart_x, float cart_y, float *polar_phi, float *polar_dist)
 Convert a 2D cartesian coordinate to a 2D polar coordinate. More...
 
void cart2polar3d (float cart_x, float cart_y, float cart_z, float &polar_phi, float &polar_theta, float &polar_r)
 Convert a 3D cartesian coordinate (x, y, z) to a 3D polar coordinate. More...
 
void polar2cart2d (float polar_phi, float polar_dist, float *cart_x, float *cart_y)
 Convert a 2D polar coordinate to a 2D cartesian coordinate. More...
 
template<typename Scalar >
Scalar quat_yaw (const Eigen::Quaternion< Scalar > &q)
 Calculate Yaw angle from quaternion. More...
 
template<typename Scalar >
void quat_to_euler (const Eigen::Quaternion< Scalar > &q, float &roll, float &pitch, float &yaw)
 Get euler angles for quaternion. More...
 
bool line_segm_intersect (const Eigen::Vector2f l1_from, const Eigen::Vector2f l1_to, const Eigen::Vector2f l2_from, const Eigen::Vector2f l2_to)
 Check if two line segments intersect. More...
 
Eigen::Vector2f line_segm_intersection (const Eigen::Vector2f l1_from, const Eigen::Vector2f l1_to, const Eigen::Vector2f l2_from, const Eigen::Vector2f l2_to)
 Get line segment intersection point. More...
 
float polygon_area (const Polygon2D &p)
 Calculate area of a polygon. More...
 
bool polygon_contains (const Polygon2D &polygon, const Eigen::Vector2f &point)
 Check if given point lies inside the polygon. More...
 
Eigen::Vector2f polygon_centroid (const Polygon2D &p)
 Calculate centroid of polygon. More...
 
float gauss (const float diff, const float sigma=1.0)
 The normal distribution. More...
 
float intersection_integral_oftwo_gaussians (float mu1, float sigma1, float mu2, float sigma2, float step)
 Computes the intersection integral of two gaussians given. More...
 
double triangle_area (const Eigen::Vector2f &p0, const Eigen::Vector2f &p1, const Eigen::Vector2f &p2)
 Calculate triangle area. More...
 
bool triangle_contains (const Eigen::Vector2f &p0, const Eigen::Vector2f &p1, const Eigen::Vector2f &p2, const Eigen::Vector2f &p)
 Check if a triangle contains a point. More...
 
static std::vector< std::string > str_split (const std::string &s, char delim='/')
 Split string by delimiter. More...
 
static std::vector< std::string > str_split (const std::string &s, std::string delim)
 Split string by delimiter string. More...
 
static std::list< std::string > str_split_list (const std::string &s, char delim='/')
 Split string by delimiter. More...
 
static std::string str_join (const std::vector< std::string > &v, char delim='/')
 Join vector of strings string using given delimiter. More...
 
static std::string str_join (const std::list< std::string > &l, char delim='/')
 Join list of strings string using given delimiter. More...
 
template<typename InputIterator >
std::string str_join (const InputIterator &first, const InputIterator &last, char delim='/')
 Join list of strings string using given delimiter. More...
 
static std::string str_join (const std::list< std::string > &l, std::string delim)
 Join list of strings string using given delimiter. More...
 
template<typename InputIterator >
std::string str_join (const InputIterator &first, const InputIterator &last, std::string delim)
 Join list of strings string using given delimiter. More...
 
static std::queue< std::string > str_split_to_queue (const std::string &s, char delim='/')
 Split string by delimiter. More...
 
int unhex (char c)
 Transform hex to value. More...
 
void hex_unescape (char *s)
 Remove URL hex escapes from s in place. More...
 
Module::ModuleFlags operator| (const Module::ModuleFlags &flags_a, const Module::ModuleFlags &flags_b)
 Concatenation of flags. More...
 
std::string filetype_file (const char *filename)
 Get filetype of file. More...
 
std::string filetype_file (int fd)
 Get filetype of file given by file descriptor. More...
 
std::string mimetype_file (const char *filename)
 Get mime-type of file. More...
 
std::string mimetype_file (int fd)
 Get mime-type of file given by file descriptor. More...
 
static void set_nonblock_flag ()
 Set non-blocking flag on STDIN. More...
 
static void clear_nonblock_flag ()
 Clear non-blocking flag on STDIN. More...
 
char getkey (int timeout_decisecs)
 Get value of a single key-press non-blocking. More...
 
double time_diff_sec (const timeval &a, const timeval &b)
 Calculate time difference of two time structs. More...
 
double time_diff_sec (const long int a_sec, const long int a_usec, const long int b_sec, const long int b_usec)
 Calculate time difference of two time structs. More...
 
long int time_sec_to_usec (double sec)
 Convert seconds to micro seconds. More...
 
long int time_diff_usec (const timeval &a, const timeval &b)
 Get difference between two time structs in microseconds. More...
 
static ssize_t dynamic_reply_data_cb (void *reply, uint64_t pos, char *buf, size_t max)
 Callback based chunk-wise data. More...
 
static void dynamic_reply_free_cb (void *reply)
 Callback to free dynamic web reply. More...
 
bool isProb (Probability p)
 Check if the probability value is valid. More...
 
void radToEnc (std::vector< float > &rad, std::vector< int > &enc)
 Convert radian vaulues of katana arm to encoder values. More...
 
void encToRad (std::vector< int > &enc, std::vector< float > &rad)
 Convert encoder vaulues of katana arm to radian angles. More...
 
std::string command_args_tostring (const char *argv[])
 Convert command args to string. More...
 
std::string envp_tostring (char *envp[])
 Convert environment to string. More...
 
std::vector< std::string > envp_copy_expand (char *environ[], const char *path_ext[])
 Copy an environment and extend certain paths. More...
 
void run_viewer (OpenRAVE::EnvironmentBasePtr env, const std::string &viewername, bool *running)
 Sets and loads a viewer for OpenRAVE. More...
 
const char * worldinfo_msl_gamestate_tostring (worldinfo_msl_gamestate_t gamestate)
 Convert MSL gamestate to a string. More...
 
const char * worldinfo_spl_gamestate_tostring (worldinfo_spl_gamestate_t gamestate)
 Convert MSL gamestate to a string. More...
 
const char * worldinfo_gamestate_team_tostring (worldinfo_gamestate_team_t team)
 Convert gamestate team to a string. More...
 
const char * worldinfo_gamestate_goalcolor_tostring (worldinfo_gamestate_goalcolor_t goal_color)
 Convert goal color to a string. More...
 
const char * worldinfo_gamestate_half_tostring (worldinfo_gamestate_half_t half)
 Convert half time to a string. More...
 
const char * worldinfo_penalty_tostring (worldinfo_penalty_t penalty)
 Convert penalty to a string. More...
 

Variables

static const char * c_black = "\033[0;30m"
 Print black on console. More...
 
static std::string cblack = c_black
 Print black on console. More...
 
static const char * c_darkgray = "\033[1;30m"
 Print dark gray on console. More...
 
static std::string cdarkgray = c_darkgray
 Print dark gray on console. More...
 
static const char * c_red = "\033[0;31m"
 Print red on console. More...
 
static std::string cred = c_red
 Print red on console. More...
 
static const char * c_lightred = "\033[1;31m"
 Print light red on console. More...
 
static std::string clightred = c_lightred
 Print light red on console. More...
 
static const char * c_green = "\033[0;32m"
 Print green on console. More...
 
static std::string cgreen = c_green
 Print green on console. More...
 
static const char * c_lightgreen = "\033[1;32m"
 Print light green on console. More...
 
static std::string clightgreen = c_lightgreen
 Print light green on console. More...
 
static const char * c_brown = "\033[0;33m"
 Print brown on console. More...
 
static std::string cbrown = c_brown
 Print brown on console. More...
 
static const char * c_yellow = "\033[1;33m"
 Print yellow on console. More...
 
static std::string cyellow = c_yellow
 Print yellow on console. More...
 
static const char * c_blue = "\033[0;34m"
 Print blue on console. More...
 
static std::string cblue = c_blue
 Print blue on console. More...
 
static const char * c_lightblue = "\033[1;34m"
 Print light blue on console. More...
 
static std::string clightblue = c_lightblue
 Print light blue on console. More...
 
static const char * c_purple = "\033[0;35m"
 Print purple on console. More...
 
static std::string cpurple = c_purple
 Print purple on console. More...
 
static const char * c_lightpurple = "\033[1;35m"
 Print light purple on console. More...
 
static std::string clightpurple = c_lightpurple
 Print light purple on console. More...
 
static const char * c_cyan = "\033[0;36m"
 Print cyan on console. More...
 
static std::string ccyan = c_cyan
 Print cyan on console. More...
 
static const char * c_lightcyan = "\033[1;36m"
 Print light cyan on console. More...
 
static std::string clightcyan = c_lightcyan
 Print light cyan on console. More...
 
static const char * c_lightgray = "\033[2;37m"
 Print light gray on console. More...
 
static std::string clightgray = c_lightgray
 Print light gray on console. More...
 
static const char * c_white = "\033[1;37m"
 Print white on console. More...
 
static std::string cwhite = c_white
 Print white on console. More...
 
static const char * c_normal = "\033[0;39m"
 Print normal on console, without colors, depends on console settings. More...
 
static std::string cnormal = c_normal
 Print normal on console, without colors, depends on console settings. More...
 
const Time TIME_MAX = Time(std::numeric_limits<time_t>::max(), 999999)
 Instance of Time denoting the maximum value possible. More...
 
const Time TIME_MIN = Time(0, 1)
 Instance of Time denoting the minimum value possible. More...
 
const float OCCUPANCY_THRESHOLD = 0.45f
 Occupancy threshold. More...
 

Detailed Description

Fawkes library namespace.

This namespace is used for the Fawkes base libraries. As a rule of thumb everything that is in src/libs belongs to this namespace.

Typedef Documentation

◆ arc_t

Defines an arc (or circle)

◆ cart_coord_2d_t

Cartesian coordinates (2D).

◆ ellipse_t

Defines an ellipse.

◆ field_line_t

Describes a field line.

◆ interface_enum_map_t

typedef std::map<int, std::string> fawkes::interface_enum_map_t

Map of enum integer to string values.

Definition at line 53 of file types.h.

◆ InterfaceDestroyFunc

typedef void(* fawkes::InterfaceDestroyFunc) (Interface *interface)

Interface destructor function for the shared library.

Do not use directly. Use EXPORT_INTERFACE macro.

Parameters
interfaceInterface to destroy

Definition at line 324 of file interface.h.

◆ InterfaceFactoryFunc

typedef Interface*(* fawkes::InterfaceFactoryFunc) (void)

Interface generator function for the shared library Do not use directly.

Use EXPORT_INTERFACE macro.

Definition at line 329 of file interface.h.

◆ jaco_arm_config_t

The setup-configuration of the arm.

◆ jaco_arm_t

Jaco struct containing all components required for one arm.

Definition at line 33 of file act_thread.h.

◆ jaco_dual_arm_t

Jaco struct containing all components required for a dual-arm setup.

Definition at line 33 of file bimanual_act_thread.h.

◆ jaco_target_queue_t

FIFO target queue, holding RefPtr to targets.

Definition at line 92 of file types.h.

◆ jaco_target_t

Jaco target struct, holding information on a target.

◆ jaco_target_type_t

The type of a target.

◆ jaco_trajec_point_t

typedef std::vector<float> fawkes::jaco_trajec_point_t

A trajectory point.

Definition at line 46 of file types.h.

◆ jaco_trajec_state_t

The state of a trajectory.

◆ jaco_trajec_t

A trajectory.

Definition at line 51 of file types.h.

◆ OpenRaveEnvironmentPtr

◆ OpenRaveManipulatorPtr

◆ OpenRaveRobotPtr

◆ PluginDependenciesFunc

typedef const char*(* fawkes::PluginDependenciesFunc) ()

Plugin depdendency function for the shared library.

Returns
short string with a comma separated list of plugins that this plugin depends on.

Definition at line 88 of file plugin.h.

◆ PluginDescriptionFunc

typedef const char*(* fawkes::PluginDescriptionFunc) ()

Plugin description function for the shared library.

Returns
short string describing the plugin.

Definition at line 82 of file plugin.h.

◆ point_6D_t

Defines a point with 6-degrees of freedom.

◆ point_t

typedef struct point_struct fawkes::point_t

Point with cartesian coordinates as signed integers.

Definition at line 43 of file astar.h.

◆ Polygon2D

typedef std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > fawkes::Polygon2D

Polygon as a vector of 2D points.

Definition at line 36 of file polygon.h.

◆ Probability

typedef float fawkes::Probability

A probability type.

Definition at line 33 of file probability.h.

Enumeration Type Documentation

◆ blackboard_msgid_t

BlackBoard network message types.

Definition at line 36 of file messages.h.

◆ blackboard_neterror_t

Error codes.

Enumerator
BB_ERR_UNKNOWN_ERR 

Unknown error occured.

Check log.

BB_ERR_UNKNOWN_TYPE 

Requested interface type is unknown.

BB_ERR_HASH_MISMATCH 

The hashes of the interfaces do not match.

Make sure that both sides are using the exact same version of the interface.

BB_ERR_WRITER_EXISTS 

You tried to open an interface for writing but there is already a writing instance for this interface.

Definition at line 57 of file messages.h.

◆ colli_drive_restriction_t

Colli drive restrictions.

Definition at line 79 of file types.h.

◆ colli_escape_mode_t

Colli Escape modes.

Definition at line 67 of file types.h.

◆ colli_motor_instruct_mode_t

Colli motor_instuct modes.

Definition at line 73 of file types.h.

◆ colli_state_t

Colli States.

Enumerator
NothingToDo 

Indicating that nothing is to do.

OrientAtTarget 

Indicating that the robot is at target and has to orient.

DriveToOrientPoint 

Drive to the orientation point.

DriveToTarget 

Drive to the target.

Definition at line 36 of file types.h.

◆ euler_rotation_t

Euler rotations.

Enumerator
EULER_ZXZ 

ZXZ rotation.

EULER_ZYZ 

ZYZ rotation.

EULER_ZYX 

ZYX rotation.

Definition at line 47 of file types.h.

◆ interface_fieldtype_t

Interface field type.

Enumerator
IFT_BOOL 

boolean field

IFT_INT8 

8 bit integer field

IFT_UINT8 

8 bit unsigned integer field

IFT_INT16 

16 bit integer field

IFT_UINT16 

16 bit unsigned integer field

IFT_INT32 

32 bit integer field

IFT_UINT32 

32 bit unsigned integer field

IFT_INT64 

64 bit integer field

IFT_UINT64 

64 bit unsigned integer field

IFT_FLOAT 

float field

IFT_DOUBLE 

double field

IFT_STRING 

string field

IFT_BYTE 

byte field, alias for uint8

IFT_ENUM 

field with interface specific enum type

Definition at line 35 of file types.h.

◆ jaco_arm_config_enum

The setup-configuration of the arm.

Enumerator
CONFIG_SINGLE 

we only have one arm.

CONFIG_LEFT 

this arm is the left one out of two.

CONFIG_RIGHT 

this arm is the right one out of two.

Definition at line 54 of file types.h.

◆ jaco_target_type_enum

The type of a target.

Enumerator
TARGET_CARTESIAN 

target with cartesian coordinates.

TARGET_ANGULAR 

target with angular coordinates.

TARGET_GRIPPER 

only gripper movement.

TARGET_READY 

target is the READY position of the Jaco arm.

TARGET_RETRACT 

target is the RETRACT position of the Jaco arm.

Definition at line 61 of file types.h.

◆ jaco_trajec_state_enum

The state of a trajectory.

Enumerator
TRAJEC_SKIP 

skip trajectory planning for this target.

TRAJEC_WAITING 

new trajectory target, wait for planner to process.

TRAJEC_PLANNING 

planner is planning the trajectory.

TRAJEC_READY 

trajectory has been planned and is ready for execution.

TRAJEC_EXECUTING 

trajectory is being executed.

TRAJEC_IK_ERROR 

planner could not find IK solution for target

TRAJEC_PLANNING_ERROR 

planner could not plan a collision-free trajectory.

Definition at line 70 of file types.h.

◆ plugin_message_type_t

Plugin message type.

Enumerator
MSG_PLUGIN_LOAD 

request plugin load (plugin_load_msg_t)

MSG_PLUGIN_LOADED 

plugin loaded (plugin_loaded_msg_t)

MSG_PLUGIN_LOAD_FAILED 

plugin load failed (plugin_load_failed_msg_t)

MSG_PLUGIN_UNLOAD 

request plugin unload (plugin_unload_msg_t)

MSG_PLUGIN_UNLOADED 

plugin unloaded (plugin_unloaded_msg_t)

MSG_PLUGIN_UNLOAD_FAILED 

plugin unload failed (plugin_unload_failed_msg_t)

MSG_PLUGIN_LIST_AVAIL 

request list of available plugins

MSG_PLUGIN_AVAIL_LIST 

list of available plugins (plugin_list_msg_t)

MSG_PLUGIN_AVAIL_LIST_FAILED 

listing available plugins failed

MSG_PLUGIN_LIST_LOADED 

request lif of loaded plugins

MSG_PLUGIN_LOADED_LIST 

list of loaded plugins (plugin_list_msg_t)

MSG_PLUGIN_LOADED_LIST_FAILED 

listing loaded plugins failed

MSG_PLUGIN_SUBSCRIBE_WATCH 

Subscribe for watching load/unload events.

MSG_PLUGIN_UNSUBSCRIBE_WATCH 

Unsubscribe from watching load/unload events.

Definition at line 32 of file messages.h.

◆ target_type_t

Target types.

Enumerator
TARGET_NONE 

No valid target.

TARGET_JOINTS 

Target: motor joint values.

TARGET_TRANSFORM 

Target: absolute endeffector translation and rotation.

TARGET_RELATIVE 

Target: relative endeffector translation, based on robot's coordinate system.

TARGET_RELATIVE_EXT 

Target: relative endeffector translation, based on arm extension.

TARGET_IKPARAM 

Target: OpenRAVE::IkParameterization string.

TARGET_RAW 

Target: Raw string, passed to OpenRAVE's BaseManipulation module.

Definition at line 54 of file types.h.

◆ worldinfo_gamestate_goalcolor_t

Goal color.

Enumerator
GOAL_BLUE 

Blue goal.

GOAL_YELLOW 

Yellow goal.

Definition at line 63 of file enums.h.

◆ worldinfo_gamestate_half_t

Game time half.

Enumerator
HALF_FIRST 

First half.

HALF_SECOND 

Second half.

Definition at line 70 of file enums.h.

◆ worldinfo_gamestate_team_t

Team.

Enumerator
TEAM_NONE 

No team, not team-specific.

TEAM_CYAN 

Cyan team.

TEAM_MAGENTA 

Magenta team.

TEAM_BOTH 

Both teams.

Definition at line 54 of file enums.h.

◆ worldinfo_msl_gamestate_t

Game states for RoboCup MSL.

Enumerator
GS_FROZEN 

Frozen, nothing moves.

GS_PLAY 

Play, normal play.

GS_KICK_OFF 

Kick off.

GS_DROP_BALL 

Referee drops ball, both teams can wrestle for the ball.

GS_PENALTY 

Penalty kick.

GS_CORNER_KICK 

Corner kick.

GS_THROW_IN 

Throw in.

GS_FREE_KICK 

Free kick.

GS_GOAL_KICK 

Goal kick.

GS_HALF_TIME 

Half time.

Definition at line 30 of file enums.h.

◆ worldinfo_penalty_t

Robot penalty code.

Enumerator
PENALTY_NONE 

No penalty.

PENALTY_BALL_HOLDING 

Robot hold the ball.

PENALTY_GOALIE_PUSHING 

Robot pushed the goalie.

PENALTY_PLAYER_PUSHING 

Robot pushed a player.

PENALTY_ILLEGAL_DEFENDER 

Robot is an illegal defender.

PENALTY_ILLEGAL_DEFENSE 

Illegal defense.

PENALTY_OBSTRUCTION 

Robot obstructs path way.

PENALTY_REQ_FOR_PICKUP 

Robot was requested for pick up.

PENALTY_LEAVING 

Robot has to leave.

PENALTY_DAMAGE 

Robot is damaged.

PENALTY_MANUAL 

Manually penalized.

Definition at line 76 of file enums.h.

◆ worldinfo_spl_gamestate_t

Game states for RoboCup SPL.

Enumerator
GS_SPL_INITIAL 

Initial setup phase.

GS_SPL_READY 

Move to kick-off positions.

GS_SPL_SET 

Wait for kick-off.

GS_SPL_PLAY 

Play!

GS_SPL_FINISHED 

Corner kick.

Definition at line 44 of file enums.h.

Function Documentation

◆ abs_cfg_path()

static std::string fawkes::abs_cfg_path ( const std::string &  path)
static

Create absolute config path.

If the path starts with / it is considered to be absolute. Otherwise it is prefixed with the config directory.

Parameters
pathpath
Returns
absolute path

Definition at line 656 of file yaml.cpp.

References fawkes::YamlConfiguration::YamlValueIterator::path(), fawkes::Exception::prepend(), and str_split().

◆ angle_distance()

float fawkes::angle_distance ( float  angle_rad1,
float  angle_rad2 
)
inline

Determines the distance between two angle provided as radians.

Parameters
angle_rad1first angle in radian
angle_rad2second angle in radian
Returns
distance between the two angles

Definition at line 128 of file angle.h.

References normalize_mirror_rad().

Referenced by JacoGotoThread::loop(), NavGraphThread::loop(), and JacoBimanualGotoThread::move_gripper().

◆ angle_distance_signed()

float fawkes::angle_distance_signed ( float  angle_from,
float  angle_to 
)
inline

Determines the signed distance between from "angle_from" to "angle_to" provided as radians.

Parameters
angle_toangle to which the signed value is calculated
angle_fromangle from which the signed value is calculated
Returns
signed distance from angle "angle_from" to "angle_to"

Definition at line 140 of file angle.h.

References normalize_mirror_rad().

Referenced by fawkes::LaserOccupancyGrid::reset_old(), and fawkes::ForwardOmniDriveModule::update().

◆ cart2polar2d()

void fawkes::cart2polar2d ( float  cart_x,
float  cart_y,
float *  polar_phi,
float *  polar_dist 
)
inline

Convert a 2D cartesian coordinate to a 2D polar coordinate.

Parameters
polar_phiPhi of the polar coordinate
polar_distdistnace of the polar coordinate
cart_xupon return contains X of the cartesian coordinate
cart_yupon return contains Y of the cartesian coordinate

Definition at line 39 of file coord.h.

Referenced by JoystickTeleOpThread::loop().

◆ cart2polar3d()

void fawkes::cart2polar3d ( float  cart_x,
float  cart_y,
float  cart_z,
float &  polar_phi,
float &  polar_theta,
float &  polar_r 
)
inline

Convert a 3D cartesian coordinate (x, y, z) to a 3D polar coordinate.

Parameters
cart_xin
cart_yin
cart_zin
polar_phiout
polar_thetaout
polar_rout

Definition at line 55 of file coord.h.

Referenced by firevision::PositionToPixel::get_pixel_position_unchecked().

◆ clear_nonblock_flag()

static void fawkes::clear_nonblock_flag ( )
static

Clear non-blocking flag on STDIN.

Definition at line 51 of file getkey.cpp.

Referenced by getkey().

◆ command_args_tostring()

std::string fawkes::command_args_tostring ( const char *  argv[])

Convert command args to string.

Parameters
argvarguments, assumed to be standard args as passed to programs, i.e. the first element is the executable, the following are the parameters.
Returns
string, where all elements of argv have been concatenated

Definition at line 42 of file string.cpp.

Referenced by fawkes::OpenPRSKernelManager::create_kernel().

◆ contains()

static bool fawkes::contains ( Point_map  points,
Point_2  point,
std::string &  name,
float  near_threshold 
)
static

Check if a point is already contained in a map.

Parameters
pointsmap of points to check for point
pointpoint to check whether it already exists
nameif the point was found in the map will be assigned the name of the point in the map upon return
near_thresholddistance threshold for which to consider nodes to be the same if the distance is smaller than this threshold.
Returns
true if the point has been found in the map, false otherwise

Definition at line 113 of file voronoi.cpp.

Referenced by firevision::MirrorCalibTool::CartesianImage::bright_fraction(), fawkes::NavGraphGeneratorVoronoi::compute(), firevision::MirrorCalibTool::CartesianImage::contains(), firevision::MirrorCalibTool::CartesianImage::draw_line(), firevision::MirrorCalibTool::CartesianImage::get(), firevision::MirrorCalibTool::CartesianImage::highlight_pixel(), firevision::MirrorCalibTool::CartesianImage::highlight_point(), and firevision::MirrorCalibTool::CartesianImage::set_color().

◆ deg2rad()

float fawkes::deg2rad ( float  deg)
inline

Convert an angle given in degrees to radians.

Parameters
degoriginal value in degrees
Returns
converted value in radians

Definition at line 37 of file angle.h.

Referenced by firevision::BallTrigoRelativePos::BallTrigoRelativePos(), RosLaserScanThread::bb_interface_created(), RosLaserScanThread::bb_interface_data_changed(), firevision::BoxRelative::BoxRelative(), firevision::LineShape::calcPoints(), firevision::CameraTracker::CameraTracker(), fawkes::OpenRaveManipulatorKinovaJaco::copy(), firevision::CornerHorizon::CornerHorizon(), LaserDrawingArea::draw_beams(), firevision::MirrorCalibTool::draw_crosshair(), firevision::MirrorCalibTool::draw_line(), LaserDrawingArea::draw_segments(), encToRad(), DynamixelDriverThread::exec_sensor(), LaserProjectionDataFilter::filter(), firevision::ScanlineStar::first_on_ray(), firevision::FrontBallRelativePos::FrontBallRelativePos(), DynamixelChain::get_max_supported_speed(), RobotisRX28::get_max_supported_speed(), OpenRobotinoComThread::get_odometry(), fawkes::RoboShape::get_robot_length_for_deg(), Firestation::get_window(), firevision::TriclopsStereoProcessor::get_world_xyz(), firevision::TriclopsStereoProcessor::getall_world_xyz(), firevision::MirrorCalibTool::CartesianImage::highlight_line(), TabletopVisualizationThread::init(), CruizCoreXG1010AcquisitionThread::init(), LaserPointCloudThread::init(), RosLaserScanThread::init(), PanTiltRX28Thread::init(), OpenRobotinoComThread::init(), AmclThread::init(), TabletopObjectsThread::init(), firevision::MirrorCalibTool::CartesianImage::is_line(), fawkes::RoboShape::is_robot_reading_for_deg(), fawkes::LaserOccupancyGrid::LaserOccupancyGrid(), LaserProjectionDataFilter::LaserProjectionDataFilter(), NavGraphVisualizationThread::loop(), JacoGotoThread::loop(), CruizCoreXG1010AcquisitionThread::loop(), MapLaserGenThread::loop(), RosLaserScanThread::loop(), JacoBimanualGotoThread::move_gripper(), radToEnc(), DirectedPerceptionPTU::reset(), NaoQiMotionKickTask::run(), firevision::ScanlineStar::ScanlineStar(), firevision::BoxRelative::set_horizontal_angle(), firevision::FrontBallRelativePos::set_horizontal_angle(), firevision::BoxRelative::set_vertical_angle(), firevision::FrontBallRelativePos::set_vertical_angle(), SkelGuiSkeletonDrawer::SkelGuiSkeletonDrawer(), SkelGuiSkeletonDrawer3D::toggle_print_state(), JacoOpenraveThread::update_openrave(), firevision::MirrorCalibTool::~MirrorCalibTool(), and NaoQiMotionKickTask::~NaoQiMotionKickTask().

◆ distance()

float fawkes::distance ( float  x1,
float  y1,
float  x2,
float  y2 
)
inline

Get distance between two 2D cartesian coordinates.

Parameters
x1X coordinate of first point
y1Y coordinate of first point
x2X coordinate of second point
y2Y coordinate of second point
Returns
distance between points

Definition at line 62 of file angle.h.

Referenced by NavGraphClustersThread::blocked_edges_centroids(), fawkes::NavGraph::closest_edge(), NavGraphClustersDistanceCostConstraint::cost_factor(), fawkes::LaserOccupancyGrid::get_cell_costs(), JoystickTeleOpThread::loop(), ColliThread::loop(), and TabletopObjectsThread::loop().

◆ dump_table()

static void fawkes::dump_table ( FILE *  f,
::sqlite3 *  tdb,
const char *  table_name 
)
static

Dump table.

Dumps a table to the given file.

Parameters
ffile to write to
tdbSQLite3 database to read from
table_nameName of the table to dump

Definition at line 324 of file sqlite.cpp.

◆ dynamic_reply_data_cb()

static ssize_t fawkes::dynamic_reply_data_cb ( void *  reply,
uint64_t  pos,
char *  buf,
size_t  max 
)
static

Callback based chunk-wise data.

Supplies data chunk based.

Parameters
replyinstance of DynamicWebReply
posposition in stream
bufbuffer to put data in
maxmaximum number of bytes that can be put in buf
Returns
suitable libmicrohttpd return code

Definition at line 199 of file request_dispatcher.cpp.

References fawkes::WebReply::get_request(), fawkes::WebRequest::increment_reply_size(), and fawkes::DynamicWebReply::next_chunk().

Referenced by dynamic_reply_free_cb().

◆ dynamic_reply_free_cb()

◆ encToRad()

void fawkes::encToRad ( std::vector< int > &  enc,
std::vector< float > &  rad 
)
inline

Convert encoder vaulues of katana arm to radian angles.

Parameters
encvector with encoder values, received from CKatana::getRobotEncoders
radvector to be filled with angle values

Definition at line 56 of file conversion.h.

References deg2rad(), and encToRad().

Referenced by encToRad().

◆ envp_copy_expand()

std::vector< std::string > fawkes::envp_copy_expand ( char *  environ[],
const char *  path_ext[] 
)

Copy an environment and extend certain paths.

This will create a vector which comprises the environment in environ. The path_ext are assumed to be pairwise entries of environment variable name followed by an entry for the path extensions. Paths are here colon-separated strings of paths, e.g. like the PATH environment variable. If the variable had already been set, the given paths are appended to the variable (a closing colon will be maintained if it exists). If they were not set before, the entry is added.

Parameters
environenvironment to copy
path_extpath extension, an array of an odd number of elements, always pairwise an entry for the variable name followed by the path extension. The last element must always be NULL.
Returns
vector of strings with copied and extended environment

Definition at line 86 of file string.cpp.

Referenced by fawkes::OpenPRSKernelManager::create_kernel().

◆ envp_tostring()

std::string fawkes::envp_tostring ( char *  envp[])

Convert environment to string.

This simply creates a string with semi-colon separated environment elements. This is mostly useful for debug output of the environment.

Parameters
envpenvironment string array
Returns
string with printable environment

Definition at line 60 of file string.cpp.

◆ filetype_file() [1/2]

std::string fawkes::filetype_file ( const char *  filename)

Get filetype of file.

Returns a long decriptive string of the filetype, similar to the file console utility.

Parameters
filenamepath to the file whose type should be determined
Returns
descriptive string

Definition at line 44 of file filetype.cpp.

◆ filetype_file() [2/2]

std::string fawkes::filetype_file ( int  fd)

Get filetype of file given by file descriptor.

Returns a long decriptive string of the filetype, similar to the file console utility.

Parameters
fdfile descriptor of open file, make sure the file descriptor is rewinded Warning, the file descriptor is closed by the underlying libmagic. Use dup() to duplicate it and pass this as file descriptor if you need the file afterwards.
Returns
descriptive string

Definition at line 80 of file filetype.cpp.

◆ gauss()

float fawkes::gauss ( const float  diff,
const float  sigma = 1.0 
)
inline

The normal distribution.

Parameters
diffthe differance: (x - mu) for the mean mu and the randomvariable x
sigmathe variance
Returns
probability in normal distribution

Definition at line 40 of file probdist.h.

Referenced by intersection_integral_oftwo_gaussians().

◆ genname()

static std::string fawkes::genname ( unsigned int &  i)
static

Generate a new name.

Parameters
inumber parameter for point name, will be incremented by one
Returns
string with a new point name

Definition at line 131 of file voronoi.cpp.

Referenced by fawkes::NavGraphGeneratorVoronoi::compute().

◆ get_list() [1/2]

template<typename T >
static std::vector<T> fawkes::get_list ( YamlConfigurationNode *  root,
const char *  path 
)
inlinestatic

Retrieve value casted to given type T.

Parameters
rootroot node of the tree to search
pathpath to query
Returns
value casted as desired
Exceptions
YAML::ScalarInvalidthrown if value does not exist or is of a different type.

Definition at line 130 of file memory.cpp.

◆ get_list() [2/2]

template<typename T >
static std::vector<T> fawkes::get_list ( YamlConfigurationNode *  root,
const char *  path 
)
inlinestatic

Retrieve value casted to given type T.

Parameters
rootroot node of the tree to search
pathpath to query
Returns
value casted as desired
Exceptions
YAML::ScalarInvalidthrown if value does not exist or is of a different type.

Definition at line 992 of file yaml.cpp.

◆ get_value_as() [1/2]

template<typename T >
static T fawkes::get_value_as ( YamlConfigurationNode *  root,
const char *  path 
)
inlinestatic

Retrieve value casted to given type T.

Parameters
rootroot node of the tree to search
pathpath to query
Returns
value casted as desired
Exceptions
YAML::ScalarInvalidthrown if value does not exist or is of a different type.

Definition at line 112 of file memory.cpp.

◆ get_value_as() [2/2]

template<typename T >
static T fawkes::get_value_as ( YamlConfigurationNode *  root,
const char *  path 
)
inlinestatic

Retrieve value casted to given type T.

Parameters
rootroot node of the tree to search
pathpath to query
Returns
value casted as desired
Exceptions
YAML::ScalarInvalidthrown if value does not exist or is of a different type.

Definition at line 974 of file yaml.cpp.

◆ getkey()

char fawkes::getkey ( int  timeout_decisecs)

Get value of a single key-press non-blocking.

This method checks if a new keypress has happened and returns the value in this case. Otherwise it returns 0. The method does not block.

Parameters
timeout_decisecsIf less than 0 wait forever, if 0 non-blocking (returns 0 if no key pressed immediately, if greater than 0 it is the timeout in deciseconds.
Returns
key pressed or 0 (no key read)

Definition at line 70 of file getkey.cpp.

References clear_nonblock_flag(), and set_nonblock_flag().

Referenced by PTUJoystickControl::run().

◆ hex_unescape()

void fawkes::hex_unescape ( char *  s)

Remove URL hex escapes from s in place.

Parameters
sstring to manipulate

Definition at line 45 of file string_urlescape.h.

References unhex().

◆ intersection_integral_oftwo_gaussians()

float fawkes::intersection_integral_oftwo_gaussians ( float  mu1,
float  sigma1,
float  mu2,
float  sigma2,
float  step 
)
inline

Computes the intersection integral of two gaussians given.

Parameters
mu1mean of first gaussian
sigma1variance of first gaussian
mu2mean of second gaussian
sigma2variance of second gaussian
stepdiscretization steps for the integral computation
Returns
computed integral

Definition at line 56 of file probdist.h.

References gauss().

◆ is_type() [1/2]

template<typename T >
static bool fawkes::is_type ( YamlConfigurationNode *  root,
const char *  path 
)
inlinestatic

Check if value is of given type T.

Parameters
rootroot node of the tree to search
pathpath to query
Returns
true if value is of desired type, false otherwise

Definition at line 211 of file memory.cpp.

◆ is_type() [2/2]

template<typename T >
static bool fawkes::is_type ( YamlConfigurationNode *  root,
const char *  path 
)
inlinestatic

Check if value is of given type T.

Parameters
rootroot node of the tree to search
pathpath to query
Returns
true if value is of desired type, false otherwise

Definition at line 1073 of file yaml.cpp.

◆ isProb()

bool fawkes::isProb ( Probability  p)
inline

Check if the probability value is valid.

Parameters
pThe probablity
Returns
true if valid, false otherwise

Definition at line 40 of file probability.h.

Referenced by fawkes::OccupancyGrid::fill(), and fawkes::OccupancyGrid::set_prob().

◆ line_segm_intersect()

bool fawkes::line_segm_intersect ( const Eigen::Vector2f  l1_from,
const Eigen::Vector2f  l1_to,
const Eigen::Vector2f  l2_from,
const Eigen::Vector2f  l2_to 
)

Check if two line segments intersect.

Line segments only intersect if the intersection point of the lines lies within both segment boundaries.

Parameters
l1_fromline segment 1 first point
l1_toline segment 1 second point
l2_fromline segment 2 first point
l2_toline segment 2 second point
Returns
true if the lines intersect, false otherwise

Definition at line 43 of file lines.h.

Referenced by fawkes::NavGraphEdge::intersects().

◆ line_segm_intersection()

Eigen::Vector2f fawkes::line_segm_intersection ( const Eigen::Vector2f  l1_from,
const Eigen::Vector2f  l1_to,
const Eigen::Vector2f  l2_from,
const Eigen::Vector2f  l2_to 
)

Get line segment intersection point.

Line segments only intersect if the intersection point of the lines lies within both segment boundaries.

Parameters
l1_fromline segment 1 first point
l1_toline segment 1 second point
l2_fromline segment 2 first point
l2_toline segment 2 second point
Returns
point which is either the intersection point, or a point of NaNs if no intersection point exists.

Definition at line 114 of file lines.h.

Referenced by fawkes::NavGraphEdge::intersection().

◆ load_yaml_navgraph()

◆ mimetype_file() [1/2]

std::string fawkes::mimetype_file ( const char *  filename)

Get mime-type of file.

This function gives a brief mime-type for the given file.

Parameters
filenamepath to the file whose type should be determined
Returns
descriptive string

Definition at line 112 of file filetype.cpp.

Referenced by fawkes::DynamicFileWebReply::DynamicFileWebReply().

◆ mimetype_file() [2/2]

std::string fawkes::mimetype_file ( int  fd)

Get mime-type of file given by file descriptor.

This function gives a brief mime-type for the given file.

Parameters
fdfile descriptor of open file, make sure the file descriptor is rewinded. Warning, the file descriptor is closed by the underlying libmagic. Use dup() to duplicate it and pass this as file descriptor if you need the file afterwards.
Returns
descriptive string

Definition at line 153 of file filetype.cpp.

◆ normalize_bigmirror_rad()

float fawkes::normalize_bigmirror_rad ( float  angle_rad)
inline

Normalizes angle in radian between -3*PI and 3*PI.

If the angle is above 2*PI or below 2*PI the angle will be clipped. The largest full amount of (-)2*PI is subtracted, such that only the amount within the range [-2*PI, 2*PI] remains. Then (-)2*PI is added again.

Parameters
angle_radoriginal value
Returns
normalized angle

Definition at line 112 of file angle.h.

References normalize_mirror_rad().

◆ normalize_mirror_rad()

float fawkes::normalize_mirror_rad ( float  angle_rad)
inline

◆ normalize_rad()

float fawkes::normalize_rad ( float  angle_rad)
inline

Normalize angle in radian between 0 (inclusive) and 2*PI (exclusive).

The given angle in radians is taken as an angle on the unit circle. It is then normalized into the range 0 and 2*PI, such that it is the exact same angle on the unit circle but in the usual angle range.

Parameters
angle_radoriginal value
Returns
normalized angle

Definition at line 93 of file angle.h.

Referenced by firevision::MirrorCalibTool::Point::atan(), LaserDrawingArea::draw_beams(), firevision::MirrorCalibTool::draw_crosshair(), firevision::MirrorCalibTool::draw_line(), LaserProjectionDataFilter::LaserProjectionDataFilter(), MapLaserGenThread::loop(), NavGraphThread::loop(), firevision::MirrorCalibTool::next_step(), fawkes::LaserOccupancyGrid::reset_old(), fawkes::EscapeDriveModule::set_laser_data(), and firevision::MirrorCalibTool::~MirrorCalibTool().

◆ operator &()

Testing of register flags.

Parameters
aflags to test
bflags to test for
Returns
resulting flags

Definition at line 285 of file blackboard.h.

◆ operator>>() [1/2]

static void fawkes::operator>> ( const YAML::Node &  n,
NavGraphNode node 
)
static

Read topological map node from YAML iterator.

Parameters
niterator to node representing a topological map graph node
nodenode to fill

Definition at line 40 of file yaml_navgraph.cpp.

References fawkes::NavGraphNode::set_name(), fawkes::NavGraphNode::set_property(), fawkes::NavGraphNode::set_unconnected(), fawkes::NavGraphNode::set_x(), and fawkes::NavGraphNode::set_y().

◆ operator>>() [2/2]

static void fawkes::operator>> ( const YAML::Node &  n,
NavGraphEdge edge 
)
static

Read topological map edge from YAML iterator.

Parameters
niterator to node representing a topological map graph edge
edgeedge to fill

Definition at line 157 of file yaml_navgraph.cpp.

References fawkes::NavGraphEdge::set_directed(), fawkes::NavGraphEdge::set_from(), fawkes::NavGraphEdge::set_property(), and fawkes::NavGraphEdge::set_to().

◆ operator|() [1/2]

Module::ModuleFlags fawkes::operator| ( const Module::ModuleFlags flags_a,
const Module::ModuleFlags flags_b 
)
inline

Concatenation of flags.

Parameters
flags_aflags to concatenate
flags_bother flags to concatenate
Returns
concatenated flags

Definition at line 130 of file module.h.

◆ operator|() [2/2]

Concatenation of register flags.

Parameters
aflags to concatenate
bother flags to concatenate
Returns
concatenated flags

Definition at line 272 of file blackboard.h.

◆ point_dist()

float fawkes::point_dist ( float  x1,
float  y1,
float  x2,
float  y2 
)
inline

Get distance of two points.

This is particularly useful if not using a more powerful representation like Eigen.

Parameters
x1x coordinate of first point
y1y coordinate of first point
x2x coordinate of second point
y2y coordinate of second point
Returns
distance

Definition at line 82 of file common.h.

Referenced by fawkes::NavGraph::cost().

◆ points_different()

bool fawkes::points_different ( float  x1,
float  y1,
float  x2,
float  y2,
float  threshold = 1e-4 
)
inline

Check if two points are different with regard to a given threshold.

This is particularly useful if not using a more powerful representation like Eigen.

Parameters
x1x coordinate of first point
y1y coordinate of first point
x2x coordinate of second point
y2y coordinate of second point
thresholdthe threshold to compare the distance between the points to.
Returns
true if the distance of the two points is greater than or equal to the given threshold, false otherwise.

Definition at line 100 of file common.h.

Referenced by fawkes::NavGraph::cost().

◆ polar2cart2d()

void fawkes::polar2cart2d ( float  polar_phi,
float  polar_dist,
float *  cart_x,
float *  cart_y 
)
inline

Convert a 2D polar coordinate to a 2D cartesian coordinate.

Parameters
polar_phiPhi of the polar coordinate
polar_distdistnace of the polar coordinate
cart_xupon return contains X of the cartesian coordinate
cart_yupon return contains Y of the cartesian coordinate

Definition at line 70 of file coord.h.

Referenced by LaserMapFilterDataFilter::filter(), NavGraphVisualizationThread::loop(), ColliActThread::loop(), and fawkes::LaserOccupancyGrid::reset_old().

◆ polygon_area()

float fawkes::polygon_area ( const Polygon2D p)

Calculate area of a polygon.

Parameters
ppolygon
Returns
area of polygon

Definition at line 43 of file polygon.h.

Referenced by fawkes::NavGraphGeneratorVoronoi::compute().

◆ polygon_centroid()

Eigen::Vector2f fawkes::polygon_centroid ( const Polygon2D p)

Calculate centroid of polygon.

Note that the centroid might even lie outside for an irregular polygon.

Parameters
ppolygon
Returns
centroid

Definition at line 133 of file polygon.h.

◆ polygon_contains()

bool fawkes::polygon_contains ( const Polygon2D polygon,
const Eigen::Vector2f &  point 
)

Check if given point lies inside the polygon.

The point and polygon are assumed to be in the same X-Y plane. Code based on http://www.visibone.com/inpoly/inpoly.c.txt Copyright (c) 1995-1996 Galacticomm, Inc. Freeware source code. Bob Stein and Craig Yap Adapted from PCL pcl::isXYPointIn2DXYPolygon()

Parameters
polygonpolygon to check against
pointpoint to check if it lies within the given polygon
Returns
true if the point lies inside the polygon, false otherwise

Definition at line 70 of file polygon.h.

Referenced by fawkes::NavGraphGeneratorVoronoi::compute().

◆ quat_to_euler()

template<typename Scalar >
void fawkes::quat_to_euler ( const Eigen::Quaternion< Scalar > &  q,
float &  roll,
float &  pitch,
float &  yaw 
)

Get euler angles for quaternion.

Calculates the roll, pitch, and yaw angles for a given quaternion. Code based on OpenSLAM.

Parameters
qquaternion to convert
rollupon return contains roll angle (around X axis)
pitchupon return contains pitch angle (around Y axis)
yawupon return contains yaw angle (around Z axis)

Definition at line 62 of file eigen.h.

◆ quat_yaw()

template<typename Scalar >
Scalar fawkes::quat_yaw ( const Eigen::Quaternion< Scalar > &  q)

Calculate Yaw angle from quaternion.

The Yaw angle is the rotation around the Z axis of a given reference frame. Code based on OpenSLAM.

Parameters
qquaternion to get yaw angle for
Returns
yaw angle

Definition at line 43 of file eigen.h.

◆ rad2deg()

◆ radToEnc()

void fawkes::radToEnc ( std::vector< float > &  rad,
std::vector< int > &  enc 
)
inline

Convert radian vaulues of katana arm to encoder values.

Parameters
radvector with radian angle values
encvector to be filled with encoder values

Definition at line 40 of file conversion.h.

References deg2rad(), and radToEnc().

Referenced by radToEnc().

◆ read_default_properties()

void fawkes::read_default_properties ( NavGraph graph,
YAML::Node &  doc 
)

Read default properties for graph from YAML node.

Parameters
graphthe graph to assign the properties to
docthe root document of the YAML graph definition

Definition at line 216 of file yaml_navgraph.cpp.

References fawkes::NavGraph::name(), and fawkes::NavGraph::set_default_properties().

Referenced by load_yaml_navgraph().

◆ run_viewer()

void fawkes::run_viewer ( OpenRAVE::EnvironmentBasePtr  env,
const std::string &  viewername,
bool *  running 
)

Sets and loads a viewer for OpenRAVE.

Parameters
envOpenRAVE environment to be attached
viewernamename of the viewr, usually "qtcoin"
runningpointer to a local variable, which will be set to "true" as long as the viewer thread runs, and "false" when the GUI closes.

Definition at line 55 of file environment.cpp.

References run_viewer().

Referenced by run_viewer(), and fawkes::OpenRaveEnvironment::start_viewer().

◆ save_yaml_navgraph()

◆ set_nonblock_flag()

static void fawkes::set_nonblock_flag ( )
static

Set non-blocking flag on STDIN.

Sets the 0_NONBLOCK Flag to 1, so that the read command in the getkey()-method wont block the programm till a input is made (see also libc manual, pages 105 and 117).

Definition at line 39 of file getkey.cpp.

Referenced by getkey().

◆ sock_addr_cmp_addr()

static int fawkes::sock_addr_cmp_addr ( const struct sockaddr *  a,
const struct sockaddr *  b 
)
inlinestatic

Compare two sockaddr structures.

The comparison is based on address family first, and if the same based on the IP address. Works for AF_INET and AF_INET6.

Parameters
afirst compare argument
bsecond compare argument
Returns
<0 if a is less than b, 0 if they are the same, or >0 otherwise

Definition at line 42 of file addr_comp.h.

Referenced by fawkes::SockAddrCompare::operator()().

◆ sock_addr_size()

size_t fawkes::sock_addr_size ( const struct sockaddr *  a)
inline

Get canonical size of sockaddr structure.

Parameters
asockaddr_in or sockaddr_in6 structure with properly set address family field.
Returns
size in bytes of struct

Definition at line 40 of file addr_size.h.

Referenced by fawkes::NetworkNameResolverThread::loop().

◆ sqr() [1/4]

◆ sqr() [2/4]

float fawkes::sqr ( float  x)
inline

Fast square multiplication.

Parameters
x
Returns
x^2

Definition at line 47 of file common.h.

◆ sqr() [3/4]

int fawkes::sqr ( int  x)
inline

Fast square multiplication.

Parameters
x
Returns
x^2

Definition at line 57 of file common.h.

◆ sqr() [4/4]

unsigned long fawkes::sqr ( unsigned long  x)
inline

Fast square multiplication.

Parameters
x
Returns
x^2

Definition at line 67 of file common.h.

◆ str_join() [1/5]

static std::string fawkes::str_join ( const std::vector< std::string > &  v,
char  delim = '/' 
)
inlinestatic

Join vector of strings string using given delimiter.

Parameters
vvector with strings to join
delimdelimiter
Returns
string of strings in vector separated by given delimiter

Definition at line 96 of file string_split.h.

Referenced by fawkes::OpenPRSKernelManager::create_kernel(), fawkes::NavGraphPath::get_path_as_string(), and WebviewBlackBoardRequestProcessor::process_request().

◆ str_join() [2/5]

static std::string fawkes::str_join ( const std::list< std::string > &  l,
char  delim = '/' 
)
inlinestatic

Join list of strings string using given delimiter.

Parameters
llist with strings to join
delimdelimiter
Returns
string of strings in list separated by given delimiter

Definition at line 112 of file string_split.h.

◆ str_join() [3/5]

template<typename InputIterator >
std::string fawkes::str_join ( const InputIterator &  first,
const InputIterator &  last,
char  delim = '/' 
)

Join list of strings string using given delimiter.

The iterator must be produce a std::string for operator*().

Parameters
firstinput iterator to beginning of range
lastinput iterator to end of range
delimdelimiter
Returns
string of strings in list separated by given delimiter

Definition at line 134 of file string_split.h.

Referenced by BlackboardCLIPSFeature::clips_context_destroyed(), DynamixelDriverThread::init(), and NavGraphGeneratorThread::loop().

◆ str_join() [4/5]

static std::string fawkes::str_join ( const std::list< std::string > &  l,
std::string  delim 
)
inlinestatic

Join list of strings string using given delimiter.

Parameters
llist with strings to join
delimdelimiter
Returns
string of strings in list separated by given delimiter

Definition at line 153 of file string_split.h.

◆ str_join() [5/5]

template<typename InputIterator >
std::string fawkes::str_join ( const InputIterator &  first,
const InputIterator &  last,
std::string  delim 
)

Join list of strings string using given delimiter.

The iterator must be produce a std::string for operator*().

Parameters
firstinput iterator to beginning of range
lastinput iterator to end of range
delimdelimiter
Returns
string of strings in list separated by given delimiter

Definition at line 174 of file string_split.h.

◆ str_split() [1/2]

static std::vector<std::string> fawkes::str_split ( const std::string &  s,
char  delim = '/' 
)
inlinestatic

Split string by delimiter.

Parameters
sstring to split
delimdelimiter
Returns
vector of split strings

Definition at line 40 of file string_split.h.

Referenced by abs_cfg_path().

◆ str_split() [2/2]

static std::vector<std::string> fawkes::str_split ( const std::string &  s,
std::string  delim 
)
inlinestatic

Split string by delimiter string.

Parameters
sstring to split
delimdelimiter
Returns
vector of split strings

Definition at line 58 of file string_split.h.

◆ str_split_list()

static std::list<std::string> fawkes::str_split_list ( const std::string &  s,
char  delim = '/' 
)
inlinestatic

Split string by delimiter.

Parameters
sstring to split
delimdelimiter
Returns
queue of split strings

Definition at line 78 of file string_split.h.

Referenced by fawkes::OpenPRSKernelManager::create_kernel().

◆ str_split_to_queue()

static std::queue<std::string> fawkes::str_split_to_queue ( const std::string &  s,
char  delim = '/' 
)
inlinestatic

Split string by delimiter.

Parameters
sstring to split
delimdelimiter
Returns
queue of split strings

Definition at line 193 of file string_split.h.

Referenced by fawkes::MemoryConfiguration::search(), and fawkes::YamlConfiguration::search().

◆ time_diff_sec() [1/2]

double fawkes::time_diff_sec ( const timeval &  a,
const timeval &  b 
)
inline

Calculate time difference of two time structs.

The calculated time is t = a - b, where t is a represented as the number of seconds in a single precision float.

Parameters
atime to subtract from
btime to subtract
Returns
a - b

Definition at line 40 of file time.h.

Referenced by firevision::VelocityFromRelative::calc(), fawkes::Socket::connect(), RosPointCloudThread::loop(), NaoQiButtonThread::loop(), fawkes::Time::operator-(), fawkes::Socket::read(), fawkes::Socket::send(), firevision::VelocityGlobalFromRelative::setRobotPosition(), firevision::VelocityFromGlobal::setRobotPosition(), fawkes::Clock::sys_elapsed(), and fawkes::Socket::write().

◆ time_diff_sec() [2/2]

double fawkes::time_diff_sec ( const long int  a_sec,
const long int  a_usec,
const long int  b_sec,
const long int  b_usec 
)
inline

Calculate time difference of two time structs.

The calculated time is t = a - b, where t is a represented as the number of seconds in a single precision float.

Parameters
a_secseconds of time to subtract from
a_usecmicroseconds of time to subtract from
b_secseconds of time to subtract
b_usecmicroseconds of time to subtract
Returns
a_sec - b_sec + (a_usec - b_usec) / 1000000.f

Definition at line 58 of file time.h.

◆ time_diff_usec()

long int fawkes::time_diff_usec ( const timeval &  a,
const timeval &  b 
)
inline

Get difference between two time structs in microseconds.

The calculated time is t = a - b

Parameters
atime to subtract from
btime to subtract
Returns
difference between a and b in microseconds

Definition at line 84 of file time.h.

Referenced by fawkes::TimeWait::wait(), and fawkes::TimeWait::wait_systime().

◆ time_sec_to_usec()

long int fawkes::time_sec_to_usec ( double  sec)
inline

Convert seconds to micro seconds.

Parameters
secseconds to convert
Returns
time in microseconds

Definition at line 72 of file time.h.

Referenced by RRDThread::init().

◆ triangle_area()

double fawkes::triangle_area ( const Eigen::Vector2f &  p0,
const Eigen::Vector2f &  p1,
const Eigen::Vector2f &  p2 
)

Calculate triangle area.

Parameters
p0first point of triangle
p1second point of triangle
p2third point of triangle
Returns
area of triangle

Definition at line 39 of file triangle.h.

Referenced by triangle_contains().

◆ triangle_contains()

bool fawkes::triangle_contains ( const Eigen::Vector2f &  p0,
const Eigen::Vector2f &  p1,
const Eigen::Vector2f &  p2,
const Eigen::Vector2f &  p 
)

Check if a triangle contains a point.

A point is also considered to be contained if it is on the boundary of the triangle.

Parameters
p0first point of triangle
p1second point of triangle
p2third point of triangle
ppoint to check with respect to the given triangle
Returns
true if the point is within or on the triangle boundaries

Definition at line 56 of file triangle.h.

References triangle_area().

◆ unhex()

int fawkes::unhex ( char  c)

Transform hex to value.

Parameters
ccharacter
Returns
value of hex code as number

Definition at line 34 of file string_urlescape.h.

Referenced by hex_unescape().

◆ worldinfo_gamestate_goalcolor_tostring()

const char * fawkes::worldinfo_gamestate_goalcolor_tostring ( worldinfo_gamestate_goalcolor_t  goal_color)

Convert goal color to a string.

Parameters
goal_colorgoal color
Returns
string representation of the given goal color.

Definition at line 92 of file enums.cpp.

References GOAL_BLUE, and GOAL_YELLOW.

Referenced by RefBoxCommThread::set_team_goal().

◆ worldinfo_gamestate_half_tostring()

const char * fawkes::worldinfo_gamestate_half_tostring ( worldinfo_gamestate_half_t  half)

Convert half time to a string.

Parameters
halfhalf time
Returns
string representation of the given half time.

Definition at line 108 of file enums.cpp.

References HALF_FIRST, and HALF_SECOND.

Referenced by RefBoxCommThread::set_half().

◆ worldinfo_gamestate_team_tostring()

const char * fawkes::worldinfo_gamestate_team_tostring ( worldinfo_gamestate_team_t  team)

Convert gamestate team to a string.

Parameters
teamgame state team to translate into a string
Returns
string representation of the given team.

Definition at line 75 of file enums.cpp.

References TEAM_BOTH, TEAM_CYAN, TEAM_MAGENTA, and TEAM_NONE.

Referenced by RefBoxCommThread::set_gamestate(), and RefBoxCommThread::set_team_goal().

◆ worldinfo_msl_gamestate_tostring()

const char * fawkes::worldinfo_msl_gamestate_tostring ( worldinfo_msl_gamestate_t  gamestate)

Convert MSL gamestate to a string.

Parameters
gamestategame state to translate into a string
Returns
string representation of the given state.

Definition at line 35 of file enums.cpp.

References GS_CORNER_KICK, GS_DROP_BALL, GS_FREE_KICK, GS_FROZEN, GS_GOAL_KICK, GS_HALF_TIME, GS_KICK_OFF, GS_PENALTY, GS_PLAY, and GS_THROW_IN.

◆ worldinfo_penalty_tostring()

const char * fawkes::worldinfo_penalty_tostring ( worldinfo_penalty_t  penalty)

Convert penalty to a string.

Parameters
penaltypenalty to translate into a string
Returns
string representation of the penalty

Definition at line 123 of file enums.cpp.

References PENALTY_BALL_HOLDING, PENALTY_DAMAGE, PENALTY_GOALIE_PUSHING, PENALTY_ILLEGAL_DEFENDER, PENALTY_ILLEGAL_DEFENSE, PENALTY_LEAVING, PENALTY_MANUAL, PENALTY_NONE, PENALTY_OBSTRUCTION, PENALTY_PLAYER_PUSHING, and PENALTY_REQ_FOR_PICKUP.

◆ worldinfo_spl_gamestate_tostring()

const char * fawkes::worldinfo_spl_gamestate_tostring ( worldinfo_spl_gamestate_t  gamestate)

Convert MSL gamestate to a string.

Parameters
gamestategame state to translate into a string
Returns
string representation of the given state.

Definition at line 57 of file enums.cpp.

References GS_SPL_FINISHED, GS_SPL_INITIAL, GS_SPL_PLAY, GS_SPL_READY, and GS_SPL_SET.

Variable Documentation

◆ c_black

const char* fawkes::c_black = "\033[0;30m"
static

Print black on console.

Definition at line 33 of file console_colors.h.

◆ c_blue

const char* fawkes::c_blue = "\033[0;34m"
static

Print blue on console.

Definition at line 73 of file console_colors.h.

Referenced by FireVisionNetworkTool::service_added().

◆ c_brown

const char* fawkes::c_brown = "\033[0;33m"
static

◆ c_cyan

const char* fawkes::c_cyan = "\033[0;36m"
static

Print cyan on console.

Definition at line 93 of file console_colors.h.

◆ c_darkgray

const char* fawkes::c_darkgray = "\033[1;30m"
static

Print dark gray on console.

Definition at line 38 of file console_colors.h.

◆ c_green

const char* fawkes::c_green = "\033[0;32m"
static

Print green on console.

Definition at line 53 of file console_colors.h.

◆ c_lightblue

const char* fawkes::c_lightblue = "\033[1;34m"
static

Print light blue on console.

Definition at line 78 of file console_colors.h.

◆ c_lightcyan

const char* fawkes::c_lightcyan = "\033[1;36m"
static

Print light cyan on console.

Definition at line 98 of file console_colors.h.

◆ c_lightgray

const char* fawkes::c_lightgray = "\033[2;37m"
static

◆ c_lightgreen

const char* fawkes::c_lightgreen = "\033[1;32m"
static

Print light green on console.

Definition at line 58 of file console_colors.h.

◆ c_lightpurple

const char* fawkes::c_lightpurple = "\033[1;35m"
static

Print light purple on console.

Definition at line 88 of file console_colors.h.

◆ c_lightred

const char* fawkes::c_lightred = "\033[1;31m"
static

Print light red on console.

Definition at line 48 of file console_colors.h.

◆ c_normal

◆ c_purple

const char* fawkes::c_purple = "\033[0;35m"
static

Print purple on console.

Definition at line 83 of file console_colors.h.

◆ c_red

const char* fawkes::c_red = "\033[0;31m"
static

◆ c_white

const char* fawkes::c_white = "\033[1;37m"
static

Print white on console.

Definition at line 108 of file console_colors.h.

◆ c_yellow

const char* fawkes::c_yellow = "\033[1;33m"
static

Print yellow on console.

Definition at line 68 of file console_colors.h.

◆ cblack

std::string fawkes::cblack = c_black
static

Print black on console.

Definition at line 35 of file console_colors.h.

◆ cblue

std::string fawkes::cblue = c_blue
static

Print blue on console.

Definition at line 75 of file console_colors.h.

Referenced by firevision::SurfClassifier::classify().

◆ cbrown

std::string fawkes::cbrown = c_brown
static

Print brown on console.

Definition at line 65 of file console_colors.h.

◆ ccyan

std::string fawkes::ccyan = c_cyan
static

Print cyan on console.

Definition at line 95 of file console_colors.h.

◆ cdarkgray

std::string fawkes::cdarkgray = c_darkgray
static

Print dark gray on console.

Definition at line 40 of file console_colors.h.

◆ cgreen

std::string fawkes::cgreen = c_green
static

Print green on console.

Definition at line 55 of file console_colors.h.

Referenced by firevision::SurfClassifier::classify().

◆ clightblue

std::string fawkes::clightblue = c_lightblue
static

Print light blue on console.

Definition at line 80 of file console_colors.h.

◆ clightcyan

std::string fawkes::clightcyan = c_lightcyan
static

Print light cyan on console.

Definition at line 100 of file console_colors.h.

◆ clightgray

std::string fawkes::clightgray = c_lightgray
static

Print light gray on console.

Definition at line 105 of file console_colors.h.

◆ clightgreen

std::string fawkes::clightgreen = c_lightgreen
static

Print light green on console.

Definition at line 60 of file console_colors.h.

◆ clightpurple

std::string fawkes::clightpurple = c_lightpurple
static

Print light purple on console.

Definition at line 90 of file console_colors.h.

◆ clightred

std::string fawkes::clightred = c_lightred
static

Print light red on console.

Definition at line 50 of file console_colors.h.

◆ cnormal

std::string fawkes::cnormal = c_normal
static

Print normal on console, without colors, depends on console settings.

Definition at line 115 of file console_colors.h.

Referenced by firevision::SurfClassifier::classify().

◆ cpurple

std::string fawkes::cpurple = c_purple
static

Print purple on console.

Definition at line 85 of file console_colors.h.

◆ cred

std::string fawkes::cred = c_red
static

Print red on console.

Definition at line 45 of file console_colors.h.

◆ cwhite

std::string fawkes::cwhite = c_white
static

Print white on console.

Definition at line 110 of file console_colors.h.

◆ cyellow

std::string fawkes::cyellow = c_yellow
static

Print yellow on console.

Definition at line 70 of file console_colors.h.

◆ OCCUPANCY_THRESHOLD

const float fawkes::OCCUPANCY_THRESHOLD = 0.45f

Occupancy threshold.

Definition at line 37 of file occupancygrid.h.

◆ TIME_MAX

const Time fawkes::TIME_MAX = Time(std::numeric_limits<time_t>::max(), 999999)

Instance of Time denoting the maximum value possible.

This is particularly useful when initializing a minimization in time.

Definition at line 47 of file time.cpp.

Referenced by fawkes::tf::BufferCore::get_latest_common_time().

◆ TIME_MIN

const Time fawkes::TIME_MIN = Time(0, 1)

Instance of Time denoting the minimum value possible.

This is particularly useful when initializing a maximization in time.

Definition at line 52 of file time.cpp.