Revision: 8242
http://playerstage.svn.sourceforge.net/playerstage/?rev=8242&view=rev
Author: rtv
Date: 2009-09-04 23:58:07 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
cleaning up namespace - may break some client code, but easy to fix
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/source.cc
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/stage.hh
Removed Paths:
-------------
code/stage/trunk/libstage/resource.cc
code/stage/trunk/libstage/waypoint.cc
Modified: code/stage/trunk/examples/ctrl/source.cc
===================================================================
--- code/stage/trunk/examples/ctrl/source.cc 2009-09-02 01:48:27 UTC (rev
8241)
+++ code/stage/trunk/examples/ctrl/source.cc 2009-09-04 23:58:07 UTC (rev
8242)
@@ -19,7 +19,7 @@
int Update( Model* mod, void* dummy )
{
if( mod->GetWorld()->GetUpdateCount() % INTERVAL == 0 )
- mod->PushFlag( new Flag( Color( 1,1,0 ), FLAGSZ ) );
+ mod->PushFlag( new Model::Flag( Color( 1,1,0 ), FLAGSZ ) );
return 0; // run again
}
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-09-02 01:48:27 UTC (rev
8241)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-09-04 23:58:07 UTC (rev
8242)
@@ -32,19 +32,17 @@
option.cc
powerpack.cc
region.cc
- resource.cc
stage.cc
stage.hh
texture_manager.cc
typetable.cc
- vis_strip.cc
- waypoint.cc
+ vis_strip.cc
world.cc
worldfile.cc
- worldgui.cc
- canvas.cc
- options_dlg.cc
- options_dlg.hh
+ worldgui.cc
+ canvas.cc
+ options_dlg.cc
+ options_dlg.hh
)
set_source_files_properties( ${stageSrcs} PROPERTIES COMPILE_FLAGS
"${FLTK_CFLAGS}" )
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-09-02 01:48:27 UTC (rev 8241)
+++ code/stage/trunk/libstage/model.cc 2009-09-04 23:58:07 UTC (rev 8242)
@@ -142,7 +142,7 @@
wf->WriteTupleAngle( section, keyword, 3, a );
}
-Visibility::Visibility() :
+Model::Visibility::Visibility() :
blob_return( true ),
fiducial_key( 0 ),
fiducial_return( 0 ),
@@ -155,7 +155,7 @@
//static const members
static const double DEFAULT_FRICTION = 0.0;
-void Visibility::Load( Worldfile* wf, int wf_entity )
+void Model::Visibility::Load( Worldfile* wf, int wf_entity )
{
blob_return = wf->ReadInt( wf_entity, "blob_return", blob_return);
fiducial_key = wf->ReadInt( wf_entity, "fiducial_key", fiducial_key);
@@ -168,14 +168,14 @@
sticky_return = wf->ReadInt( wf_entity, "sticky_return", sticky_return);
}
-GuiState:: GuiState() :
+Model::GuiState::GuiState() :
grid( false ),
move( false ),
nose( false ),
outline( false )
{ /* nothing to do */}
-void GuiState::Load( Worldfile* wf, int wf_entity )
+void Model::GuiState::Load( Worldfile* wf, int wf_entity )
{
nose = wf->ReadInt( wf_entity, "gui_nose", nose);
grid = wf->ReadInt( wf_entity, "gui_grid", grid);
@@ -342,7 +342,7 @@
}
}
-Flag* Model::PopFlag()
+Model::Flag* Model::PopFlag()
{
if( flag_list.size() == 0 )
return NULL;
@@ -1119,3 +1119,42 @@
{
pts.clear();
}
+
+
+Model::Flag::Flag( Color color, double size )
+{
+ this->color = color;
+ this->size = size;
+}
+
+Model::Flag* Model::Flag::Nibble( double chunk )
+{
+ Flag* piece = NULL;
+
+ if( size > 0 )
+ {
+ chunk = std::min( chunk, this->size );
+ piece = new Flag( this->color, chunk );
+ this->size -= chunk;
+ }
+
+ return piece;
+}
+
+
+void Model::Flag::Draw( GLUquadric* quadric )
+{
+ glColor4f( color.r, color.g, color.b, color.a );
+
+ glEnable(GL_POLYGON_OFFSET_FILL);
+ glPolygonOffset(1.0, 1.0);
+ gluQuadricDrawStyle( quadric, GLU_FILL );
+ gluSphere( quadric, size/2.0, 4,2 );
+ glDisable(GL_POLYGON_OFFSET_FILL);
+
+ // draw the edges darker version of the same color
+ glColor4f( color.r/2.0, color.g/2.0, color.b/2.0, color.a/2.0 );
+
+ gluQuadricDrawStyle( quadric, GLU_LINE );
+ gluSphere( quadric, size/2.0, 4,2 );
+}
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2009-09-02 01:48:27 UTC (rev
8241)
+++ code/stage/trunk/libstage/model_position.cc 2009-09-04 23:58:07 UTC (rev
8242)
@@ -90,8 +90,7 @@
drand48() *
INTEGRATION_ERROR_MAX_Y - INTEGRATION_ERROR_MAX_Y/2.0,
drand48() *
INTEGRATION_ERROR_MAX_Z - INTEGRATION_ERROR_MAX_Z/2.0,
drand48() *
INTEGRATION_ERROR_MAX_A - INTEGRATION_ERROR_MAX_A/2.0 ),
- waypoints( NULL ),
- waypoint_count( 0 ),
+ waypoints(),
wpvis(),
posevis()
{
@@ -530,17 +529,6 @@
est_origin.a = da;
}
-/** Set the waypoint array pointer. Returns the old pointer, in case you need
to free/delete[] it */
-Waypoint* ModelPosition::SetWaypoints( Waypoint* wps, uint32_t count )
-{
- Waypoint* replaced = waypoints;
-
- waypoints = wps;
- waypoint_count = count;
-
- return replaced;
-}
-
ModelPosition::PoseVis::PoseVis()
: Visualizer( "Position coordinates", "show_position_coords" )
{}
@@ -609,11 +597,9 @@
void ModelPosition::WaypointVis::Visualize( Model* mod, Camera* cam )
{
ModelPosition* pos = dynamic_cast<ModelPosition*>(mod);
+ const std::vector<Waypoint>& waypoints = pos->waypoints;
- Waypoint* waypoints = pos->waypoints;
- unsigned int waypoint_count = pos->waypoint_count;
-
- if( (waypoints == NULL) || (waypoint_count < 1) )
+ if( waypoints.empty() )
return;
glPointSize( 5 );
@@ -627,20 +613,24 @@
// draw waypoints
glLineWidth( 3 );
- for( unsigned int i=0; i < waypoint_count; i++ )
- waypoints[i].Draw();
+ FOR_EACH( it, waypoints )
+ it->Draw();
glLineWidth( 1 );
-
+
// draw lines connecting the waypoints
- if( waypoint_count > 1 )
+ const unsigned int num = waypoints.size();
+ if( num > 1 )
{
pos->PushColor( 1,0,0,0.3 );
glBegin( GL_LINES );
- for( unsigned int i=1; i < waypoint_count; i++ )
+ for( unsigned int i=1; i<num ; i++ )
{
- glVertex2f( waypoints[i].pose.x, waypoints[i].pose.y
);
- glVertex2f( waypoints[i-1].pose.x,
waypoints[i-1].pose.y );
+ Pose p = waypoints[i].pose;
+ Pose o = waypoints[i-1].pose;
+
+ glVertex2f( p.x, p.y );
+ glVertex2f( o.x, o.y );
}
glEnd();
@@ -651,3 +641,47 @@
pos->PopColor();
glPopMatrix();
}
+
+ModelPosition::Waypoint::Waypoint( const Pose& pose, Color color )
+ : pose(pose), color(color)
+{
+}
+
+ModelPosition::Waypoint::Waypoint( stg_meters_t x, stg_meters_t y,
stg_meters_t z, stg_radians_t a, Color color )
+ : pose(x,y,z,a), color(color)
+{
+}
+
+
+ModelPosition::Waypoint::Waypoint()
+{
+ pose = Pose( 0,0,0,0 );
+ color = 0;
+};
+
+
+void ModelPosition::Waypoint::Draw() const
+{
+ GLdouble d[4];
+
+ d[0] = color.r;
+ d[1] = color.g;
+ d[2] = color.b;
+ d[3] = color.a;
+
+ glColor4dv( d );
+
+ glBegin(GL_POINTS);
+ glVertex3f( pose.x, pose.y, pose.z );
+ glEnd();
+
+ stg_meters_t quiver_length = 0.15;
+
+ double dx = cos(pose.a) * quiver_length;
+ double dy = sin(pose.a) * quiver_length;
+
+ glBegin(GL_LINES);
+ glVertex3f( pose.x, pose.y, pose.z );
+ glVertex3f( pose.x+dx, pose.y+dy, pose.z );
+ glEnd();
+}
Deleted: code/stage/trunk/libstage/resource.cc
===================================================================
--- code/stage/trunk/libstage/resource.cc 2009-09-02 01:48:27 UTC (rev
8241)
+++ code/stage/trunk/libstage/resource.cc 2009-09-04 23:58:07 UTC (rev
8242)
@@ -1,40 +0,0 @@
-#include "stage.hh"
-using namespace Stg;
-
-Flag::Flag( Color color, double size )
-{
- this->color = color;
- this->size = size;
-}
-
-Flag* Flag::Nibble( double chunk )
-{
- Flag* piece = NULL;
-
- if( size > 0 )
- {
- chunk = std::min( chunk, this->size );
- piece = new Flag( this->color, chunk );
- this->size -= chunk;
- }
-
- return piece;
-}
-
-
-void Flag::Draw( GLUquadric* quadric )
-{
- glColor4f( color.r, color.g, color.b, color.a );
-
- glEnable(GL_POLYGON_OFFSET_FILL);
- glPolygonOffset(1.0, 1.0);
- gluQuadricDrawStyle( quadric, GLU_FILL );
- gluSphere( quadric, size/2.0, 4,2 );
- glDisable(GL_POLYGON_OFFSET_FILL);
-
- // draw the edges darker version of the same color
- glColor4f( color.r/2.0, color.g/2.0, color.b/2.0, color.a/2.0 );
-
- gluQuadricDrawStyle( quadric, GLU_LINE );
- gluSphere( quadric, size/2.0, 4,2 );
-}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-09-02 01:48:27 UTC (rev 8241)
+++ code/stage/trunk/libstage/stage.hh 2009-09-04 23:58:07 UTC (rev 8242)
@@ -380,20 +380,6 @@
}
};
- /** Specify a point in space. Arrays of Waypoints can be attached to
- Models and visualized. */
- class Waypoint
- {
- public:
- Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z, stg_radians_t a,
Color color ) ;
- Waypoint( const Pose& pose, Color color ) ;
- Waypoint();
- void Draw();
-
- Pose pose;
- Color color;
- };
-
/** Bound a range of values, from min to max. min and max are initialized to
zero. */
class Bounds
{
@@ -524,19 +510,6 @@
void RegisterModels();
- class Flag
- {
- public:
- Color color;
- double size;
-
- Flag( Color color, double size );
- Flag* Nibble( double portion );
-
- /** Draw the flag in OpenGl. Takes a quadric parameter to save
- creating the quadric for each flag */
- void Draw( GLUquadric* quadric );
- };
/** Abstract class for adding visualizations to models. DataVisualize must
be overloaded, and is then called in the models local coord system */
class Visualizer {
@@ -575,16 +548,6 @@
double duty_cycle; ///< mark/space ratio
} stg_blinkenlight_t;
- class TrailItem
- {
- public:
- stg_usec_t time;
- Pose pose;
- Color color;
-
- TrailItem( stg_usec_t time, Pose pose, Color color )
- : time(time), pose(pose), color(color){}
- };
/** Defines a rectangle of [size] located at [pose] */
typedef struct
@@ -1191,9 +1154,6 @@
(m) */
stg_point_t BlockPointToModelMeters( const stg_point_t& bpt );
- /** Update the cache of block points converted to model coordinates */
- //stg_point_t* GetPointsInModelCoords();
-
/** invalidate the cache of points in model coordinates */
void InvalidateModelPointCache();
};
@@ -1618,52 +1578,7 @@
void Dissipate( stg_joules_t j, const Pose& p );
};
- class Visibility
- {
- public:
- bool blob_return;
- int fiducial_key;
- int fiducial_return;
- bool gripper_return;
- stg_laser_return_t laser_return;
- bool obstacle_return;
- bool ranger_return;
- bool gravity_return;
- bool sticky_return;
-
- Visibility();
- void Load( Worldfile* wf, int wf_entity );
- };
-
- /* Hooks for attaching special callback functions (not used as
- variables - we just need unique addresses for them.) */
- class CallbackHooks
- {
- public:
- int flag_incr;
- int flag_decr;
- int init;
- int load;
- int save;
- int shutdown;
- int startup;
- int update;
- int update_done;
- };
-
- /** Records model state and functionality in the GUI, if used */
- class GuiState
- {
- public:
- bool grid;
- bool move;
- bool nose;
- bool outline;
-
- GuiState();
- void Load( Worldfile* wf, int wf_entity );
- };
-
+
/// %Model class
class Model : public Ancestor
{
@@ -1727,6 +1642,20 @@
{ return( callback == other.callback); }
};
+ class Flag
+ {
+ public:
+ Color color;
+ double size;
+
+ Flag( Color color, double size );
+ Flag* Nibble( double portion );
+
+ /** Draw the flag in OpenGl. Takes a quadric parameter to save
+ creating the quadric for each flag */
+ void Draw( GLUquadric* quadric );
+ };
+
protected:
/** A list of callback functions can be attached to any
address. When Model::CallCallbacks( void*) is called, the
@@ -1748,13 +1677,39 @@
Pose global_pose;
bool gpose_dirty; ///< set this to indicate that global pose may have
changed
/** Controls our appearance and functionality in the GUI, if used */
- GuiState gui;
-
+
+ /** Records model state and functionality in the GUI, if used */
+ class GuiState
+ {
+ public:
+ bool grid;
+ bool move;
+ bool nose;
+ bool outline;
+
+ GuiState();
+ void Load( Worldfile* wf, int wf_entity );
+ } gui;
+
bool has_default_block;
/* hooks for attaching special callback functions (not used as
variables - we just need unique addresses for them.) */
- CallbackHooks hooks;
+ /* Hooks for attaching special callback functions (not used as
+ variables - we just need unique addresses for them.) */
+ class CallbackHooks
+ {
+ public:
+ int flag_incr;
+ int flag_decr;
+ int init;
+ int load;
+ int save;
+ int shutdown;
+ int startup;
+ int update;
+ int update_done;
+ } hooks;
/** unique process-wide identifier for this model */
uint32_t id;
@@ -1826,6 +1781,17 @@
bool thread_safe;
/** Cache of recent poses, used to draw the trail. */
+ class TrailItem
+ {
+ public:
+ stg_usec_t time;
+ Pose pose;
+ Color color;
+
+ TrailItem( stg_usec_t time, Pose pose, Color color )
+ : time(time), pose(pose), color(color){}
+ };
+
std::list<TrailItem> trail;
/** The maxiumum length of the trail drawn. Default is 20, but can
@@ -1862,8 +1828,24 @@
const std::string& GetModelType() const {return type;}
std::string GetSayString(){return std::string(say_string);}
- Visibility vis;
+ class Visibility
+ {
+ public:
+ bool blob_return;
+ int fiducial_key;
+ int fiducial_return;
+ bool gripper_return;
+ stg_laser_return_t laser_return;
+ bool obstacle_return;
+ bool ranger_return;
+ bool gravity_return;
+ bool sticky_return;
+
+ Visibility();
+ void Load( Worldfile* wf, int wf_entity );
+ } vis;
+
stg_usec_t GetUpdateInterval(){ return interval; }
stg_usec_t GetEnergyInterval(){ return interval_energy; }
stg_usec_t GetPoseInterval(){ return interval_pose; }
@@ -2871,10 +2853,8 @@
DriveMode drive_mode;
LocalizationMode localization_mode; ///< global or local mode
Velocity integration_error; ///< errors to apply in simple odometry
model
-
- Waypoint* waypoints;
- uint32_t waypoint_count;
-
+
+
public:
// constructor
ModelPosition( World* world,
@@ -2887,10 +2867,23 @@
virtual void Shutdown();
virtual void Update();
virtual void Load();
+
+ /** Specify a point in space. Arrays of Waypoints can be attached to
+ Models and visualized. */
+ class Waypoint
+ {
+ public:
+ Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z,
stg_radians_t a, Color color ) ;
+ Waypoint( const Pose& pose, Color color ) ;
+ Waypoint();
+ void Draw() const;
+
+ Pose pose;
+ Color color;
+ };
- /** Set the waypoint array pointer. Returns the old pointer, in case
you need to free/delete[] it */
- Waypoint* SetWaypoints( Waypoint* wps, uint32_t count );
-
+ std::vector<Waypoint> waypoints;
+
class WaypointVis : public Visualizer
{
public:
Deleted: code/stage/trunk/libstage/waypoint.cc
===================================================================
--- code/stage/trunk/libstage/waypoint.cc 2009-09-02 01:48:27 UTC (rev
8241)
+++ code/stage/trunk/libstage/waypoint.cc 2009-09-04 23:58:07 UTC (rev
8242)
@@ -1,47 +0,0 @@
-
-#include "stage.hh"
-using namespace Stg;
-
-Waypoint::Waypoint( const Pose& pose, Color color )
- : pose(pose), color(color)
-{
-}
-
-Waypoint::Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z,
stg_radians_t a, Color color )
- : pose(x,y,z,a), color(color)
-{
-}
-
-
-Waypoint::Waypoint()
-{
- pose = Pose( 0,0,0,0 );
- color = 0;
-};
-
-
-void Waypoint::Draw()
-{
- GLdouble d[4];
-
- d[0] = color.r;
- d[1] = color.g;
- d[2] = color.b;
- d[3] = color.a;
-
- glColor4dv( d );
-
- glBegin(GL_POINTS);
- glVertex3f( pose.x, pose.y, pose.z );
- glEnd();
-
- stg_meters_t quiver_length = 0.15;
-
- double dx = cos(pose.a) * quiver_length;
- double dy = sin(pose.a) * quiver_length;
-
- glBegin(GL_LINES);
- glVertex3f( pose.x, pose.y, pose.z );
- glVertex3f( pose.x+dx, pose.y+dy, pose.z );
- glEnd();
-}
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