global.h File Reference

Library global. Contains a huge amount of useful things. More...

#include <carmen/ipc_wrapper.h>

Go to the source code of this file.

Data Structures

struct carmen_point_t

struct carmen_traj_point_t

struct carmen_robot_config_t

struct carmen_bresenham_param_t

struct carmen_list_t

struct carmen_default_message

struct carmen_heartbeat_message

Defines

#define CARMEN_MAJOR_VERSION   0

#define CARMEN_MINOR_VERSION   4

#define CARMEN_REVISION   6

#define TRUE   1

#define FALSE   0

#define M_PI   3.14159265358979323846

#define CARMEN_DEFAULT_MESSAGE_FMT   "{double,string}"

#define CARMEN_HEARTBEAT_NAME   "carmen_heartbeat"

#define CARMEN_HEARTBEAT_FMT   "{string, int, double, string}"

#define carmen_red_code   "[31;1m"

#define carmen_blue_code   "[34;1m"

#define carmen_normal_code   "[0m"

#define carmen_time_code(code, str)   { double time_code_t1, time_code_t2; time_code_t1 = carmen_get_time(); code; time_code_t2 = carmen_get_time(); fprintf(stderr, "%-20s : %.2f ms.\n", str, (time_code_t2 - time_code_t1) * 1000.0); }

#define carmen_test_alloc(X)   do {if ((void *)(X) == NULL) carmen_die("Out of memory in %s, (%s, line %d).\n", __FUNCTION__, __FILE__, __LINE__); } while (0)

#define carmen_test_ipc_return(ERR, ERR_MSG, IPC_MSG)   do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) return; } while (0)

#define carmen_test_ipc_return_int(ERR, ERR_MSG, IPC_MSG)   do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) return -1; } while (0)

#define carmen_test_ipc_return_null(ERR, ERR_MSG, IPC_MSG)   do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) return NULL; } while (0)

#define carmen_test_ipc_exit(ERR, ERR_MSG, IPC_MSG)   do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) {fprintf(stderr, "This is a fatal error. Exiting.\n"); exit(-1);} } while (0)

Typedefs

typedef * carmen_point_p

typedef * carmen_traj_point_p

typedef void(* carmen_usage_func )(char *fmt,...)

Enumerations

enum carmen_arm_joint_t { CARMEN_MOTOR, CARMEN_SERVO }

Functions

void carmen_test_ipc (IPC_RETURN_TYPE err, const char *err_msg, const char *ipc_msg)

int carmen_find_param (char *lvalue)

int carmen_find_param_pair (char *lvalue)

char * carmen_find_robot_name (int argc, char **argv)

char * carmen_param_pair (char *lvalue)

char * carmen_param_pair_and_remove (char *lvalue)

int carmen_num_params (void)

char * carmen_get_param_by_num (int param_index)

int carmen_read_commandline_parameters (int argc, char **argv)

int carmen_process_param_int (char *lvalue, carmen_usage_func usage, int *return_value)

double carmen_process_param_double (char *lvalue, carmen_usage_func usage, double *return_value)

int carmen_process_param_onoff (char *lvalue, carmen_usage_func usage, int *return_value)

char * carmen_process_param_string (char *lvalue, carmen_usage_func usage)

char * carmen_process_param_file (char *lvalue, carmen_usage_func usage)

char * carmen_process_param_directory (char *lvalue, carmen_usage_func usage)

char * carmen_extract_filename (char *path)

void carmen_perror (char *fmt,...) __attribute__((format(printf

void void carmen_verbose (char *fmt,...) __attribute__((format(printf

void void void carmen_warn (char *fmt,...) __attribute__((format(printf

void void void void carmen_die (char *fmt,...) __attribute__((format(printf

void void void void void carmen_die_syserror (char *fmt,...) __attribute__((format(printf

void void void void void void carmen_carp_set_verbose (int verbosity)

int carmen_carp_get_verbose (void)

void carmen_carp_set_output (FILE *output)

double carmen_get_time (void)

char * carmen_get_host (void)

carmen_default_message * carmen_default_message_create (void)

void carmen_running_average_clear (int which)

void carmen_running_average_add (int which, double x)

double carmen_running_average_report (int which)

int carmen_round (double X)

double carmen_clamp (double X, double Y, double Z)

int carmen_trunc (double X)

void carmen_erase_structure (void *ptr, int size_of_struture)

double carmen_normalize_theta (double theta)

double carmen_knots_to_meters_per_second (double knots)

double carmen_radians_to_degrees (double theta)

double carmen_degrees_to_radians (double theta)

double carmen_fmin (double val1, double val2)

double carmen_fmax (double val1, double val2)

double carmen_square (double val)

double carmen_distance_traj (carmen_traj_point_p p1, carmen_traj_point_p p2)

double carmen_angle_between (carmen_traj_point_p p1, carmen_traj_point_p p2)

double carmen_distance (carmen_point_p p1, carmen_point_p p2)

void carmen_get_bresenham_parameters (int p1x, int p1y, int p2x, int p2y, carmen_bresenham_param_t *params)

void carmen_get_current_point (carmen_bresenham_param_t *params, int *x, int *y)

int carmen_get_next_point (carmen_bresenham_param_t *params)

int carmen_sign (double num)

void carmen_rect_to_polar (double x, double y, double *r, double *theta)

unsigned int carmen_generate_random_seed (void)

unsigned int carmen_randomize (int *argc, char ***argv)

void carmen_set_random_seed (unsigned int seed)

int carmen_int_random (int max)

double carmen_uniform_random (double min, double max)

double carmen_gaussian_random (double mean, double std)

int carmen_file_exists (char *filename)

char * carmen_file_extension (char *filename)

char * carmen_file_find (char *filename)

char ** carmen_get_search_path (int *num_paths)

void carmen_global_start_progess_bar (char *label)

void carmen_global_end_progess_bar (void)

void carmen_global_update_progess_bar (int count, int size)

int carmen_strcasecmp (const char *s1, const char *s2)

int carmen_strncasecmp (const char *s1, const char *s2, size_t n)

char * carmen_new_string (const char *fmt,...)

char * carmen_new_stringv (const char *fmt, va_list ap)

void carmen_print_version (void)

int carmen_parse_sonar_offsets (char *offset_string, carmen_point_p offsets, int num_sonars)

int carmen_parse_arm_joint_types (char *joint_string, carmen_arm_joint_t *joint_types, int num_joints)

int carmen_terminal_cbreak (int blocking)

int carmen_terminal_restore (void)

carmen_list_t * carmen_list_create (int entry_size, int initial_capacity)

carmen_list_t * carmen_list_create_from_data (int entry_size, int num_elements, void *data)

carmen_list_t * carmen_list_duplicate (carmen_list_t *list)

void carmen_list_add (carmen_list_t *list, void *entry)

void carmen_list_insert (carmen_list_t *list, void *entry, int i)

void carmen_list_delete (carmen_list_t *list, int entry_num)

void * carmen_list_get (carmen_list_t *list, int entry_num)

void carmen_list_set (carmen_list_t *list, int entry_num, void *entry)

int carmen_list_length (carmen_list_t *list)

void carmen_list_destroy (carmen_list_t **list)

void carmen_eigs_to_covariance (double theta, double major, double minor, double *vx, double *vxy, double *vy)

char * carmen_next_word (char *str)

char * carmen_next_n_words (char *str, int n)

void carmen_publish_heartbeat (char *module_name)

void carmen_subscribe_heartbeat_message (carmen_heartbeat_message *heartbeat, carmen_handler_t handler, carmen_subscribe_t subscribe_how)

Detailed Description

Library global. Contains a huge amount of useful things.

Definition in file global.h.

Generated on Wed Apr 5 18:34:18 2006 for CARMEN by

1.4.4


Data Structures
struct	carmen_point_t
struct	carmen_traj_point_t
struct	carmen_robot_config_t
struct	carmen_bresenham_param_t
struct	carmen_list_t
struct	carmen_default_message
struct	carmen_heartbeat_message
Defines
#define	CARMEN_MAJOR_VERSION 0
#define	CARMEN_MINOR_VERSION 4
#define	CARMEN_REVISION 6
#define	TRUE 1
#define	FALSE 0
#define	M_PI 3.14159265358979323846
#define	CARMEN_DEFAULT_MESSAGE_FMT "{double,string}"
#define	CARMEN_HEARTBEAT_NAME "carmen_heartbeat"
#define	CARMEN_HEARTBEAT_FMT "{string, int, double, string}"
#define	carmen_red_code "[31;1m"
#define	carmen_blue_code "[34;1m"
#define	carmen_normal_code "[0m"
#define	carmen_time_code(code, str) { double time_code_t1, time_code_t2; time_code_t1 = carmen_get_time(); code; time_code_t2 = carmen_get_time(); fprintf(stderr, "%-20s : %.2f ms.\n", str, (time_code_t2 - time_code_t1) * 1000.0); }
#define	carmen_test_alloc(X) do {if ((void *)(X) == NULL) carmen_die("Out of memory in %s, (%s, line %d).\n", __FUNCTION__, __FILE__, __LINE__); } while (0)
#define	carmen_test_ipc_return(ERR, ERR_MSG, IPC_MSG) do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) return; } while (0)
#define	carmen_test_ipc_return_int(ERR, ERR_MSG, IPC_MSG) do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) return -1; } while (0)
#define	carmen_test_ipc_return_null(ERR, ERR_MSG, IPC_MSG) do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) return NULL; } while (0)
#define	carmen_test_ipc_exit(ERR, ERR_MSG, IPC_MSG) do {carmen_test_ipc((ERR), (ERR_MSG), (IPC_MSG)); if ((ERR) != IPC_OK) {fprintf(stderr, "This is a fatal error. Exiting.\n"); exit(-1);} } while (0)
Typedefs
typedef *	carmen_point_p
typedef *	carmen_traj_point_p
typedef void(*	carmen_usage_func )(char *fmt,...)
Enumerations
enum	carmen_arm_joint_t { CARMEN_MOTOR, CARMEN_SERVO }
Functions
void	carmen_test_ipc (IPC_RETURN_TYPE err, const char err_msg, const char ipc_msg)
int	carmen_find_param (char *lvalue)
int	carmen_find_param_pair (char *lvalue)
char *	carmen_find_robot_name (int argc, char **argv)
char *	carmen_param_pair (char *lvalue)
char *	carmen_param_pair_and_remove (char *lvalue)
int	carmen_num_params (void)
char *	carmen_get_param_by_num (int param_index)
int	carmen_read_commandline_parameters (int argc, char **argv)
int	carmen_process_param_int (char lvalue, carmen_usage_func usage, int return_value)
double	carmen_process_param_double (char lvalue, carmen_usage_func usage, double return_value)
int	carmen_process_param_onoff (char lvalue, carmen_usage_func usage, int return_value)
char *	carmen_process_param_string (char *lvalue, carmen_usage_func usage)
char *	carmen_process_param_file (char *lvalue, carmen_usage_func usage)
char *	carmen_process_param_directory (char *lvalue, carmen_usage_func usage)
char *	carmen_extract_filename (char *path)
void	carmen_perror (char *fmt,...) __attribute__((format(printf
void void	carmen_verbose (char *fmt,...) __attribute__((format(printf
void void void	carmen_warn (char *fmt,...) __attribute__((format(printf
void void void void	carmen_die (char *fmt,...) __attribute__((format(printf
void void void void void	carmen_die_syserror (char *fmt,...) __attribute__((format(printf
void void void void void void	carmen_carp_set_verbose (int verbosity)
int	carmen_carp_get_verbose (void)
void	carmen_carp_set_output (FILE *output)
double	carmen_get_time (void)
char *	carmen_get_host (void)
carmen_default_message *	carmen_default_message_create (void)
void	carmen_running_average_clear (int which)
void	carmen_running_average_add (int which, double x)
double	carmen_running_average_report (int which)
int	carmen_round (double X)
double	carmen_clamp (double X, double Y, double Z)
int	carmen_trunc (double X)
void	carmen_erase_structure (void *ptr, int size_of_struture)
double	carmen_normalize_theta (double theta)
double	carmen_knots_to_meters_per_second (double knots)
double	carmen_radians_to_degrees (double theta)
double	carmen_degrees_to_radians (double theta)
double	carmen_fmin (double val1, double val2)
double	carmen_fmax (double val1, double val2)
double	carmen_square (double val)
double	carmen_distance_traj (carmen_traj_point_p p1, carmen_traj_point_p p2)
double	carmen_angle_between (carmen_traj_point_p p1, carmen_traj_point_p p2)
double	carmen_distance (carmen_point_p p1, carmen_point_p p2)
void	carmen_get_bresenham_parameters (int p1x, int p1y, int p2x, int p2y, carmen_bresenham_param_t *params)
void	carmen_get_current_point (carmen_bresenham_param_t params, int x, int *y)
int	carmen_get_next_point (carmen_bresenham_param_t *params)
int	carmen_sign (double num)
void	carmen_rect_to_polar (double x, double y, double r, double theta)
unsigned int	carmen_generate_random_seed (void)
unsigned int	carmen_randomize (int argc, char **argv)
void	carmen_set_random_seed (unsigned int seed)
int	carmen_int_random (int max)
double	carmen_uniform_random (double min, double max)
double	carmen_gaussian_random (double mean, double std)
int	carmen_file_exists (char *filename)
char *	carmen_file_extension (char *filename)
char *	carmen_file_find (char *filename)
char **	carmen_get_search_path (int *num_paths)
void	carmen_global_start_progess_bar (char *label)
void	carmen_global_end_progess_bar (void)
void	carmen_global_update_progess_bar (int count, int size)
int	carmen_strcasecmp (const char s1, const char s2)
int	carmen_strncasecmp (const char s1, const char s2, size_t n)
char *	carmen_new_string (const char *fmt,...)
char *	carmen_new_stringv (const char *fmt, va_list ap)
void	carmen_print_version (void)
int	carmen_parse_sonar_offsets (char *offset_string, carmen_point_p offsets, int num_sonars)
int	carmen_parse_arm_joint_types (char joint_string, carmen_arm_joint_t joint_types, int num_joints)
int	carmen_terminal_cbreak (int blocking)
int	carmen_terminal_restore (void)
carmen_list_t *	carmen_list_create (int entry_size, int initial_capacity)
carmen_list_t *	carmen_list_create_from_data (int entry_size, int num_elements, void *data)
carmen_list_t *	carmen_list_duplicate (carmen_list_t *list)
void	carmen_list_add (carmen_list_t list, void entry)
void	carmen_list_insert (carmen_list_t list, void entry, int i)
void	carmen_list_delete (carmen_list_t *list, int entry_num)
void *	carmen_list_get (carmen_list_t *list, int entry_num)
void	carmen_list_set (carmen_list_t list, int entry_num, void entry)
int	carmen_list_length (carmen_list_t *list)
void	carmen_list_destroy (carmen_list_t **list)
void	carmen_eigs_to_covariance (double theta, double major, double minor, double vx, double vxy, double *vy)
char *	carmen_next_word (char *str)
char *	carmen_next_n_words (char *str, int n)
void	carmen_publish_heartbeat (char *module_name)
void	carmen_subscribe_heartbeat_message (carmen_heartbeat_message *heartbeat, carmen_handler_t handler, carmen_subscribe_t subscribe_how)