sim_util.H File Reference

#include <iostream>
#include "data_type.H"
#include "cbmesg_logger.H"

Go to the source code of this file.

Classes
class	cajun::cbsim_utils_t
struct	cajun::orientation_t
Namespaces
namespace	cajun
Defines
#define	D2R   M_PI/180.0
#define	R2D   180.0/M_PI
#define	POSX   0
#define	POSY   1
#define	POSZ   2
#define	ANGLEX   0
#define	ANGLEY   1
#define	ANGLEZ   2
Functions
float	cajun::calculate_angle (float pos1x, float pos1y, float pos2x, float pos2y)
double	cajun::sqr (double x)
void	cajun::HomogTformPt (double T[3][4], double x[3], double p[3])
void	cajun::tform_mult (double a[3][4], double b[3][4], double c[3][4])
float	cajun::radian (float te)
float	cajun::calculate_distance (float posx1, float posy1, float posz1, float posx2, float posy2, float posz2)
float	cajun::mod (float i)
float	cajun::angle (float x, float y)
float	cajun::distance (float x1, float y1, float x2, float y2)
void	cajun::my_sleep (double mSec)
void	cajun::load_ppm_p6 (char *fname, unsigned int *w, unsigned int *h, unsigned char **data, int mallocflag)
void	cajun::load_ppm_p3 (char *fname, unsigned int *w, unsigned int *h, unsigned char **data, int mallocflag)
void	cajun::Normal_Plane (float v[3], float x[3], float y[3], float z[3])
void	cajun::Render_Polygon (float v[4][3], float color[3], int texon, char *ppmname)
void	cajun::Render_Quadric (int type, float radius, float outerradius, float length, float color[3], int texon, char *ppmname)
void	cajun::Render_box (float dimensions[3], float color[3], int texon, char *ppmname)
void	cajun::Render_Ground (float size, float color[3], int texon, char *ppmname)
void	cajun::Render_Sky (float size, float color[3], int texon, char *ppmname)
void	cajun::get_rotation_matrix (double rot[16], double heading, double pitch, double roll)
void	cajun::matrix_to_euler (const double m[16], double &heading, double &attitude, double &bank)

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Define Documentation

#define ANGLEX   0

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::ray_sensor_t::ray_sensor_t(), cajun::laser_sensor_t::read_config_file(), and cajun::laser_sensor_t::simulate_component().

#define ANGLEY   1

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::ray_sensor_t::ray_sensor_t(), cajun::laser_sensor_t::read_config_file(), and cajun::laser_sensor_t::simulate_component().

#define ANGLEZ   2

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::ray_sensor_t::ray_sensor_t(), cajun::laser_sensor_t::read_config_file(), and cajun::laser_sensor_t::simulate_component().

#define D2R   M_PI/180.0

Referenced by cajun::dynamic_object_t::read_conf(), cajun::sim_world_object_t::sim_world_object_t(), cajun::laser_sensor_t::simulate_component(), cajun::script_controller_t::steering_observer_t::steering_observer_t(), and cajun::script_controller_t::steering_observer_t::timeout().

#define POSX   0

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::ray_sensor_t::get_ray_beam_position(), cajun::ray_sensor_t::ray_sensor_t(), cajun::laser_sensor_t::read_config_file(), cajun::ray_sensor_t::simulate_component(), cajun::laser_sensor_t::simulate_component(), cajun::iteris_sensor_t::simulate_component(), cajun::ray_sensor_t::test_ray_sensor_collision(), cajun::ray_sensor_t::update_position(), and cajun::laser_sensor_t::update_position().

#define POSY   1

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::ray_sensor_t::get_ray_beam_position(), cajun::ray_sensor_t::ray_sensor_t(), cajun::laser_sensor_t::read_config_file(), cajun::ray_sensor_t::simulate_component(), cajun::laser_sensor_t::simulate_component(), cajun::iteris_sensor_t::simulate_component(), cajun::ray_sensor_t::test_ray_sensor_collision(), cajun::ray_sensor_t::update_position(), and cajun::laser_sensor_t::update_position().

#define POSZ   2

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::ray_sensor_t::get_ray_beam_position(), cajun::ray_sensor_t::ray_sensor_t(), cajun::laser_sensor_t::read_config_file(), cajun::ray_sensor_t::simulate_component(), cajun::laser_sensor_t::simulate_component(), cajun::ray_sensor_t::test_ray_sensor_collision(), cajun::ray_sensor_t::update_position(), and cajun::laser_sensor_t::update_position().

#define R2D   180.0/M_PI

Referenced by cajun::iteris_sensor_t::simulate_component(), and cajun::iteris_sensor_t::within_2d_span().