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orcaobj Namespace Reference Utilities for initializing and manipulating Orca data objects. More... Object Initialization Functions void  setInit (orca::Frame2d &, double x=0.0, double y=0.0, double orient=0.0)   Sets all fields to specified values. void  setInit (orca::Frame3d &, double x=0.0, double y=0.0, double z=0.0, double pitch=0.0, double roll=0.0, double yaw=0.0)   Sets all fields to specified values. void  setInit (orca::Twist2d &, double vx=0.0, double vy=0.0, double w=0.0)   Sets all fields to specified values. void  setInit (orca::Twist3d &, double vx=0.0, double vy=0.0, double vz=0.0, double wx=0.0, double wy=0.0, double wz=0.0)   Sets all fields to specified values. void  setInit (orca::Size2d &, double l=0.0, double w=0.0)   Sets all fields to specified values. void  setInit (orca::Size3d &, double l=0.0, double w=0.0, double h=0.0)   Sets all fields to specified values. void  setInit (orca::CartesianPoint2d &, double x=0.0, double y=0.0)   Sets all fields to specified values. void  setInit (orca::CartesianPoint &, double x=0.0, double y=0.0, double z=0.0)   Sets all fields to specified values. void  setInit (orca::Covariance2d &, double pxx=0.0, double pxy=0.0, double pyy=0.0, double pxt=0.0, double pyt=0.0, double ptt=0.0)   Sets all fields to specified values. void  setInit (orca::Time &)   Sets all fields to zero. void  setInit (orca::Waypoint2d &)   Sets all fields to zero. void  setInit (orca::WifiInterface &w)   Sets all fields to zero. void  setInit (orca::BatteryData &)   Sets all fields to negative numbers. void  setInit (orca::Odometry2dData &)   Sets all fields to zero and stalled to FALSE. void  setSane (orca::Time &)   Sets to current time. void  setSane (orca::TimeOfDay &)   Sets to current time. void  setSane (orca::Date &)   Sets to current time. void  setSane (orca::CartesianPoint2d &)   Set to randomized but sane values. void  setSane (orca::CartesianPoint &)   Set to randomized but sane values. void  setSane (orca::CartesianVelocity2d &)   Set to randomized but sane values. void  setSane (orca::CartesianVelocity &)   Set to randomized but sane values. void  setSane (orca::AngularVelocity &)   Set to randomized but sane values. void  setSane (orca::Frame2d &)   Set to randomized but sane values. void  setSane (orca::Frame3d &)   Set to randomized but sane values. void  setSane (orca::Covariance2d &)   Set to randomized but sane values. void  setSane (orca::Size2d &)   Set to randomized but sane values. void  setSane (orca::Size3d &)   Set to randomized but sane values. void  setSane (orca::Odometry2dData &)   Set to randomized but sane values. void  setSane (orca::Localise2dData &)   Set to randomized but sane values. void  setSane (orca::GpsData &)   Set to randomized but sane values. void  setSane (orca::PowerData &, int count=2)   Set to randomized but sane values. void  setSane (orca::DriveBicycleCommand &)   Set to randomized but sane values. void  setSane (orca::VelocityControl2dData &)   Set to randomized but sane values. void  setSane (orca::DriveBicycleData &)   Set to randomized but sane values. void  setSane (const orca::RangeScanner2dDataPtr &, int numberOfSamples=361)   Set to randomized but sane values. void  setSane (const orca::LaserScanner2dDataPtr &, int numberOfSamples=361)   Set to randomized but sane values. void  setSane (orca::OgMapData &, int width=640, int height=480)   Set to randomized but sane values. void  setSane (orca::PixMapData &, int width=640, int height=480)   Set to randomized but sane values. void  setSane (orca::CameraData &, int width=640, int height=480)   Set to randomized but sane values. Miscellaneous Object Manipulation Functions void  normalise (orca::Localise2dData &obj) const orca::Pose2dHypothesis &  mlHypothesis (const orca::Localise2dData &obj)   Returns the reference to max-likelihood hypothesis. void  saveToFile (const orca::FeatureMap2dData &fmap, FILE *f)   Throws gbxsickacfr::gbxutilacfr::Exception on problems. void  loadFromFile (const std::string &filename, orca::FeatureMap2dData &fmap)   Throws gbxsickacfr::gbxutilacfr::Exception on problems. bool  isSane (const orca::PathFollower2dData &pathData, std::string &reason) char  displayOgmapCell (unsigned char cell) double  calcAngleIncrement (double fieldOfView, int numReturns) unsigned char &  gridCell (orca::OgMapData &obj, int indX, int indY)   Get a reference to a grid cell (no bounds checking is performed). int  gridCellIndex (const orca::OgMapData &obj, int indX, int indY)   Calculate index of a cell in a grid map based on its row and column. Property functions int  getPropertyAsStringSeq (const Ice::PropertiesPtr &prop, const ::std::string &key, Ice::StringSeq &value, char delim) Ice::StringSeq  getPropertyAsStringSeqWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const Ice::StringSeq &defaultValue, char delim=':')   Returns the default value if key is not found or cannot be converted to a string sequence. int  getPropertyAsFrame2d (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::Frame2d &value) orca::Frame2d  getPropertyAsFrame2dWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::Frame2d &defaultValue)   Returns the default value if key is not found or cannot be converted to a Frame2d. int  getPropertyAsFrame3d (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::Frame3d &value) orca::Frame3d  getPropertyAsFrame3dWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::Frame3d &defaultValue)   Returns the default value if key is not found or cannot be converted to a Frame3d. int  getPropertyAsSize2d (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::Size2d &value) orca::Size2d  getPropertyAsSize2dWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::Size2d &defaultValue)   Returns the default value if key is not found or cannot be converted to a Size3d. int  getPropertyAsSize3d (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::Size3d &value) orca::Size3d  getPropertyAsSize3dWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::Size3d &defaultValue)   Returns the default value if key is not found or cannot be converted to a Size3d. int  getPropertyAsCartesianPoint (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::CartesianPoint &value) orca::CartesianPoint  getPropertyAsCartesianPointWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::CartesianPoint &defaultValue)   Returns the default value if key is not found or cannot be converted to a CartesianPoint. int  getPropertyAsTimeDuration (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::Time &value) orca::Time  getPropertyAsTimeDurationWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::Time &d)   Returns the default value if key is not found or cannot be converted to a Time. int  getPropertyAsImageFormat (const Ice::PropertiesPtr &prop, const ::std::string &key, orca::ImageFormat &value) orca::ImageFormat  getPropertyAsImageFormatWithDefault (const Ice::PropertiesPtr &, const ::std::string &key, const orca::ImageFormat &defaultValue)   Returns the default value if key is not found or cannot be converted to a ImageFormat. Stringify OCM Structures std::string  toString (const orca::FQComponentName &name) std::string  toString (const orca::FQInterfaceName &name) std::string  toString (const orca::FQTopicName &name) std::string  toString (const orca::FQExecutableName &name) orca::FQComponentName  toComponentName (const std::string &s) orca::FQInterfaceName  toInterfaceName (const std::string &s) std::string  toHomeIdentity (const orca::FQComponentName &fqCName)   Based on the component name, returns the default identity of Home interface. orca::FQTopicName  toStatusTopic (const orca::FQComponentName &fqCName)   Based on the component name, returns the default topic name for Status interface. orca::FQTopicName  toTracerTopic (const orca::FQComponentName &fqCName)   Based on the component name, returns the default topic name for Tracer interface. Stringify Data Objects int  toImageFormat (const std::string &s, orca::ImageFormat &obj) std::string  toString (const orca::CartesianPoint2d &obj) int  toCartesianPoint2d (const std::string &s, orca::CartesianPoint2d &obj) std::string  toString (const orca::CartesianPoint &obj) int  toCartesianPoint (const std::string &s, orca::CartesianPoint &obj) std::string  toString (const orca::Frame2d &obj) int  toFrame2d (const std::string &s, orca::Frame2d &obj) std::string  toString (const orca::Frame3d &obj) int  toFrame3d (const std::string &s, orca::Frame3d &obj) std::string  toString (const orca::Size2d &obj) int  toSize2d (const std::string &s, orca::Size2d &obj) std::string  toString (const orca::Size3d &obj) int  toSize3d (const std::string &s, orca::Size3d &obj) int  toIntVector (const std::string &s, std::vector< int > &obj) int  toDoubleVector (const std::string &s, std::vector< double > &obj) std::string  toStringDuration (const orca::Time &obj) int  toTimeDuration (const std::string &s, orca::Time &obj) std::string  toString (const orca::Time &obj) std::string  toString (const orca::TimeOfDay &)   Returns string in format HH:MM:SS.sss. std::string  toString (const orca::Date &)   Returns string in format YYYY/MM/DD. std::string  toString (const orca::BinarySwitchData &)   Converts to string. std::string  toString (const orca::CameraDataSequence &)   Converts to string. std::string  toString (const orca::CameraDescriptionSequence &)   Converts to string. std::string  toString (const orca::CpuInfo &)   Converts to string. std::string  toString (const orca::CpuData &)   Converts to string. std::string  toString (const orca::DriveBicycleCommand &)   Converts to string. std::string  toString (const orca::DriveBicycleData &)   Converts to string. std::string  toString (const orca::EStopData &)   Converts to string. std::string  toString (const orca::GpsDescription &)   Converts to string. std::string  toString (const orca::GpsData &)   Converts to string. std::string  toString (const orca::ImageDataPtr &)   Converts to string. std::string  toString (const orca::ImageDescriptionPtr &)   Converts to string. std::string  toString (const orca::Odometry2dData &)   Converts to string. std::string  toString (const orca::Odometry3dData &)   Converts to string. std::string  toString (const orca::VehicleDescription &)   Converts to string. std::string  toString (const orca::VehicleControlDescriptionPtr &)   Converts to string. std::string  toString (const orca::VehicleGeometryDescriptionPtr &)   Converts to string. std::string  toString (const orca::Twist2d &)   Converts to string. std::string  toString (const orca::Covariance2d &)   Converts to string. std::string  toString (const orca::Localise2dData &)   Converts to string. std::string  toString (const orca::Localise3dData &)   Converts to string. std::string  toString (const orca::VelocityControl2dData &)   Converts to string. std::string  toString (const orca::HomeData &)   Converts to string. std::string  toString (const orca::ImuData &)   Converts to string. std::string  toString (const orca::LaserScanner2dDataPtr &obj, int skip) std::string  toString (const orca::RangeScanner2dDataPtr &obj, int skip) std::string  toString (const orca::BatteryData &)   Converts to string. std::string  toString (const orca::BatteriesData &)   Converts to string. std::string  toString (const orca::PowerData &)   Converts to string. std::string  toString (const orca::StatusData &)   Converts to string. std::string  toString (const orca::TracerData &)   Converts to string. std::string  toString (const orca::RangeScanner2dDescription &)   Converts to string. std::string  toString (const orca::ImuDescription &)   Converts to string. std::string  toString (const orca::SinglePolarFeature2dPtr &obj)   Converts to string. std::string  toString (const orca::PolarFeature2dData &)   Converts to string. std::string  toString (const orca::OgMapData &)   Converts to string. std::string  toString (const orca::PixMapData &)   Converts to string. std::string  toString (const orca::PathFollower2dData &)   Converts to string. std::string  toString (const orca::Waypoint2d &)   Converts to string. std::string  toString (const orca::WifiData &)   Converts to string. std::string  toString (const orca::PropertiesData &)   Converts to string. std::string  toString (const orca::FeatureMap2dData &)   Converts to string. std::string  toString (const orca::Feature2d &)   Converts to string. std::string  toVerboseString (const orca::OgMapData &obj) std::string  toVerboseString (const orca::PathFollower2dData &)   Prints out each waypoint. std::string  toVerboseString (const orca::PathPlanner2dData &)   Prints out the path and result code. std::string  toVerboseString (const orca::PathPlanner2dTask &)   Prints out the coarse path given as a task. std::string  toVerboseString (const orca::ImuData &)   Prints out imu raw data. Functions CartesianPoint2d  rotate2d (const orca::CartesianPoint2d &point, const double &angle)   Rotate a 2d point by an angle (about Z-axis). CartesianPoint  rotate3dX (const orca::CartesianPoint &point, const double &angle)   Rotate a 3d point by an angle about the X axis. CartesianPoint  rotate3dY (const orca::CartesianPoint &point, const double &angle)   Rotate a 3d point by an angle about the Y axis. CartesianPoint  rotate3dZ (const orca::CartesianPoint &point, const double &angle)   Rotate a 3d point by an angle about the Z axis. CartesianPoint2d  convertToFrame2d (const orca::Frame2d &frame, const orca::CartesianPoint2d &point)   Convert a global point to another, relative to a frame. CartesianPoint  convertToFrame3d (const orca::Frame3d &frame, const orca::CartesianPoint &point)   Convert a global point to another, relative to a frame. CartesianPoint2d  convertFromFrame2d (const orca::Frame2d &frame, const orca::CartesianPoint2d &point)   Convert a point relative to a frame back to the global frame. CartesianPoint  convertFromFrame3d (const orca::Frame3d &frame, const orca::CartesianPoint &point)   Convert a point relative to a frame back to the global frame. orca::Frame3d  zeroFrame3d ()   Returns a frame 3d filled out with all zeros. Detailed Description Utilities for initializing and manipulating Orca data objects. This namespace is part of a library. See also: libOrcaObjects Function Documentation double orcaobj::calcAngleIncrement (  double  fieldOfView, int  numReturns )  [inline]   Calculates the angle increment for a range scan. This is in a special function because it's easy to forget the '+1' char orcaobj::displayOgmapCell (  unsigned char  cell  )    Display OG map cell int orcaobj::getPropertyAsCartesianPoint (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::CartesianPoint &  value )    Parses the value into a CartesianPoint object assuming empty space delimeters. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsFrame2d (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::Frame2d &  value )    Parses the value into a Frame2d object assuming empty space delimeters. The format is assumed to be: x[m] y[m] yaw[deg]. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsFrame3d (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::Frame3d &  value )    Parses the value into a Frame3d object assuming empty space delimeters. The format is assumed to be: x[m] y[m] z[m] roll[deg] pitch[deg] yaw[deg]. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsImageFormat (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::ImageFormat &  value )    Parses the value into a ImageFormat object assuming ':' delimeters. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsSize2d (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::Size2d &  value )    Parses the value into a Size2d object assuming empty space delimeters. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsSize3d (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::Size3d &  value )    Parses the value into a Size3d object assuming empty space delimeters. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsStringSeq (  const Ice::PropertiesPtr &  , const ::std::string &  key, Ice::StringSeq &  value, char  delim = ':' )    Parses the value into a sequence of strings using the given delimiter Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. int orcaobj::getPropertyAsTimeDuration (  const Ice::PropertiesPtr &  , const ::std::string &  key, orca::Time &  value )    Parses the value into a Time object assuming ':' delimeters. Returns: 0 = property found (and set in value), non-zero = property not found or parsing failed. bool orcaobj::isSane (  const orca::PathFollower2dData &  pathData, std::string &  reason )    If there's something wrong with the pathData objects, returns false and fills out the 'reason' field. If it's OK, returns true. void orcaobj::normalise (  orca::Localise2dData &  obj  )    Normalise the Mixture of Gaussian that Localise2dDataPtr represents, to ensure that the distribution integrates to one (ie the weights sum to 1) It is an error to give this function a MoG with all zero weights. int orcaobj::toCartesianPoint (  const std::string &  , orca::CartesianPoint &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. int orcaobj::toCartesianPoint2d (  const std::string &  , orca::CartesianPoint2d &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. orca::FQComponentName orcaobj::toComponentName (  const std::string &  s  )    Parses a string to extract a fully qualified component name (aka Adapter ID) Expects an input string in the form of platform/component A null structure is returned if no delimeter is present. Does not handle the case of multiple delimeters. int orcaobj::toDoubleVector (  const std::string &  , std::vector< double > &  )    Parses string of doubles separated by spaces. Returns: 0 = parsing successful, non-zero = parsing failed. int orcaobj::toFrame2d (  const std::string &  , orca::Frame2d &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. int orcaobj::toFrame3d (  const std::string &  , orca::Frame3d &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. int orcaobj::toImageFormat (  const std::string &  , orca::ImageFormat &  )    Parses result of the ifacestring::toString(). Returns: 0 = parsing successful, non-zero = parsing failed. orca::FQInterfaceName orcaobj::toInterfaceName (  const std::string &  s  )    Parses a string to extract a fully qualified interface name Expects an input string in the form of interface /component A null structure is returned if either one of the delimeters is absent. int orcaobj::toIntVector (  const std::string &  , std::vector< int > &  )    Parses string of ints separated by spaces. Returns: 0 = parsing successful, non-zero = parsing failed. int orcaobj::toSize2d (  const std::string &  , orca::Size2d &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. int orcaobj::toSize3d (  const std::string &  , orca::Size3d &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. std::string orcaobj::toString (  const orca::RangeScanner2dDataPtr &  , int  skip = -1 )    Converts to string. Parameter skip control verbosity. No ranges are displayed if skip=-1 (default). All ranges are displayed if skip=0 (none are skipped), every second is displayed if skip=1 (1 skipped), etc. std::string orcaobj::toString (  const orca::LaserScanner2dDataPtr &  , int  skip = -1 )    Converts to string. Parameter skip control verbosity. No ranges are displayed if skip=-1 (default). All ranges are displayed if skip=0 (none are skipped), every second is displayed if skip=1 (1 skipped), etc. std::string orcaobj::toString (  const orca::Time &   )    Returns string in human readable format: MM/DD/YY HH:MM:SS.sss. std::string orcaobj::toString (  const orca::Size3d &   )    Converts to string See also: toSize3d() std::string orcaobj::toString (  const orca::Size2d &   )    Converts to string See also: toSize2d() std::string orcaobj::toString (  const orca::Frame3d &   )    Converts to string See also: toFrame3d() std::string orcaobj::toString (  const orca::Frame2d &   )    Converts to string See also: toFrame2d() std::string orcaobj::toString (  const orca::CartesianPoint &   )    Converts to string See also: toCartesianPoint() std::string orcaobj::toString (  const orca::CartesianPoint2d &   )    Converts to string See also: toCartesianPoint2d() std::string orcaobj::toString (  const orca::FQExecutableName &  name  )    Converts fully executable name to a string. i.e. executable std::string orcaobj::toString (  const orca::FQTopicName &   )    Converts fully qualified topic name to a string. i.e. interface/topic@platform/component std::string orcaobj::toString (  const orca::FQInterfaceName &   )    Converts fully qualified interface name to a string. e.i. interface@platform/component See also: toInterfaceName std::string orcaobj::toString (  const orca::FQComponentName &   )    Converts fully qualified component name (aka Adapter ID) to a string. e.i. platform/component See also: toComponentName std::string orcaobj::toStringDuration (  const orca::Time &   )    For durations less than 24hrs returns string HH:MM:SS.sss. Otherwise, DD:HH:MM:SS.sss Negative times are supported but only if seconds and microseconds are both negative. int orcaobj::toTimeDuration (  const std::string &  , orca::Time &  )    Parses result of the correspondinng toString(). Returns: 0 = parsing successful, non-zero = parsing failed. Negative durations are supported, but only if the very first character of the string is '-'. std::string orcaobj::toVerboseString (  const orca::OgMapData &   )    Displays the contents of the map on to the console (large maps can be displyed with a small font size)

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