orcaobj Namespace Reference

Utilities for initializing and manipulating Orca data objects. More...

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.
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)
std::string	toString (const orca::Twist2d &)
	Converts to string.
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.
orca::CartesianPoint2d	rotate2d (const orca::CartesianPoint2d &point, const double &angle)
	Rotate a 2d point by an angle (about Z-axis).
orca::CartesianPoint	rotate3dX (const orca::CartesianPoint &point, const double &angle)
	Rotate a 3d point by an angle about the X axis.
orca::CartesianPoint	rotate3dY (const orca::CartesianPoint &point, const double &angle)
	Rotate a 3d point by an angle about the Y axis.
orca::CartesianPoint	rotate3dZ (const orca::CartesianPoint &point, const double &angle)
	Rotate a 3d point by an angle about the Z axis.
orca::CartesianPoint2d	convertToFrame2d (const orca::Frame2d &frame, const orca::CartesianPoint2d &point)
	Convert a global point to another, relative to a frame.
orca::CartesianPoint	convertToFrame3d (const orca::Frame3d &frame, const orca::CartesianPoint &point)
	Convert a global point to another, relative to a frame.
orca::CartesianPoint2d	convertFromFrame2d (const orca::Frame2d &frame, const orca::CartesianPoint2d &point)
	Convert a point relative to a frame back to the global frame.
orca::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.
std::string	toString (const orca::CameraDescriptionPtr &)
	Converts to string.
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.
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.
bool	isSane (const orca::Time &obj, std::string &reason)
std::string	toString (const orca::FeatureMap2dData &)
	Converts to string.
std::string	toString (const orca::Feature2d &)
	Converts to string.
void	saveToFile (const orca::FeatureMap2dData &fmap, FILE *f)
	Throws gbxutilacfr::Exception on problems.
void	loadFromFile (const std::string &filename, orca::FeatureMap2dData &fmap)
	Throws gbxutilacfr::Exception on problems.
std::string	toString (const orca::ImageDataPtr &)
	Converts to string.
std::string	toString (const orca::ImageDescriptionPtr &)
	Converts to string.
void	normalise (orca::Localise2dData &obj)
const orca::Pose2dHypothesis &	mlHypothesis (const orca::Localise2dData &obj)
	Returns the reference to max-likelihood hypothesis.
std::string	toString (const orca::Localise2dData &)
	Converts to string.
const orca::Pose3dHypothesis &	mlHypothesis (const orca::Localise3dData &obj)
	Returns the reference to max-likelihood hypothesis.
std::string	toString (const orca::Localise3dData &)
	Converts to string.
std::string	toString (const orca::MultiCameraDataPtr &)
	Converts to string.
std::string	toString (const orca::MultiCameraDescriptionPtr &)
	Converts to string.
char	displayOgmapCell (unsigned char cell)
std::string	toString (const orca::OgMapData &)
	Converts to string.
std::string	toVerboseString (const orca::OgMapData &obj)
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.
bool	isSane (const orca::Path2d &path, std::string &reason)
bool	isSane (const orca::PathFollower2dData &data, std::string &reason)
std::string	toString (const orca::PathFollower2dData &)
	Converts to string.
std::string	toString (const orca::Waypoint2d &)
	Converts to string.
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	toString (const orca::PixMapData &)
	Converts to string.
std::string	toString (const orca::RangeScanner2dDescription &)
	Converts to string.
double	calcAngleIncrement (double fieldOfView, int numReturns)
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.
std::string	toString (const orca::Covariance2d &)
	Converts to string.
std::string	toString (const orca::TracerData &)
	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::VelocityControl2dData &)
	Converts to string.
void	setInit (orca::WifiInterface &w)
	Sets all fields to zero.
std::string	toString (const orca::WifiData &)
	Converts to string.
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.

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::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::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 &	data,
		std::string &	reason
	)

If there's something wrong with the data structure, returns false and fills out the 'reason' field. If it's OK, returns true.

bool orcaobj::isSane	(	const orca::Path2d &	path,
		std::string &	reason
	)

If there's something wrong with the path object, returns false and fills out the 'reason' field. If it's OK, returns true.

bool orcaobj::isSane	(	const orca::Time &	obj,
		std::string &	reason
	)

Checks that both seconds and microseconds are non-negative. Note that calling this function is not always appropriate because negative values are allowed when Time signifies duration and not the absolute time.

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 &
	)