cajun Namespace Reference

Classes
class	acceleration_sensor_t
class	acceleration_observer_t
class	angular_rate_sensor_t
class	angular_rate_observer_t
class	components_t
class	control_line_sensor_t
class	control_line_observer_t
class	controller_interface_t
class	drive_sensor_t
class	drive_observer_t
class	dynamic_object_t
class	iteris_sensor_t
class	iteris_observer_t
class	laser_sensor_t
class	scan_observer_t
class	manual_controller_t
class	mesh_object_t
class	motion_sensor_t
class	motion_observer_t
class	nav_sensor_t
class	nav_observer_t
class	non_simulated_object_t
struct	dyn_sim_object_t
struct	mesh_object_info_t
struct	sensor_object_t
struct	goal_t
struct	script_data_t
struct	rndf_goal_t
struct	waypoint_data_t
class	object_info_t
class	ray_sensor_t
class	ray_sensor_observer_t
class	script_controller_t
class	sensor_controller_t
class	signal_line_sensor_t
class	signal_line_observer_t
class	cbsim_utils_t
struct	orientation_t
class	sim_world_t
class	sim_world_object_t
class	simulated_object_t
class	sog_sensor_t
class	sog_observer_t
class	static_object_t
class	steering_sensor_t
class	timer_t
class	waypoint_controller_t
Enumerations
enum	object_type_t { DYN_SIM = 0, DYN_NO_SIM = 1, STATIC = 2, MESH = 3 }
enum	control_type_t {   SENSOR = 0, MANUAL = 1, SCRIPT = 2, WAYPOINT = 3,   NONE = 4 }
enum	sensor_type_t { LASER = 0, RAY = 1 }
enum	wheel_type_t { SKID = 0, CONVENTIONAL = 1 }
Functions
float	calculate_angle (float pos1x, float pos1y, float pos2x, float pos2y)
double	sqr (double x)
void	HomogTformPt (double T[3][4], double x[3], double p[3])
void	tform_mult (double a[3][4], double b[3][4], double c[3][4])
float	radian (float te)
float	calculate_distance (float posx1, float posy1, float posz1, float posx2, float posy2, float posz2)
float	mod (float i)
float	angle (float x, float y)
float	distance (float x1, float y1, float x2, float y2)
void	my_sleep (double mSec)
void	load_ppm_p6 (char *fname, unsigned int *w, unsigned int *h, unsigned char **data, int mallocflag)
void	load_ppm_p3 (char *fname, unsigned int *w, unsigned int *h, unsigned char **data, int mallocflag)
void	Normal_Plane (float v[3], float x[3], float y[3], float z[3])
void	Render_Polygon (float v[4][3], float color[3], int texon, char *ppmname)
void	Render_Quadric (int type, float radius, float outerradius, float length, float color[3], int texon, char *ppmname)
void	Render_box (float dimensions[3], float color[3], int texon, char *ppmname)
void	Render_Ground (float size, float color[3], int texon, char *ppmname)
void	Render_Sky (float size, float color[3], int texon, char *ppmname)
void	get_rotation_matrix (double rot[16], double heading, double pitch, double roll)
void	matrix_to_euler (const double m[16], double &heading, double &attitude, double &bank)

---

Enumeration Type Documentation

enum cajun::control_type_t

Enumerator:

SENSOR
MANUAL
SCRIPT
WAYPOINT
NONE

enum cajun::object_type_t

Enumerator:

DYN_SIM
DYN_NO_SIM
STATIC
MESH

enum cajun::sensor_type_t

Enumerator:

LASER
RAY

enum cajun::wheel_type_t

Enumerator:

SKID
CONVENTIONAL

---

Function Documentation

float cajun::angle	(	float	x,
		float	y
	)

Referenced by calculate_angle(), cajun::laser_sensor_t::set_laser_beam_angles(), and cajun::iteris_sensor_t::within_2d_span().

float cajun::calculate_angle	(	float	pos1x,
		float	pos1y,
		float	pos2x,
		float	pos2y
	)

References angle().

float cajun::calculate_distance	(	float	posx1,
		float	posy1,
		float	posz1,
		float	posx2,
		float	posy2,
		float	posz2
	)

References sqr().

Referenced by cajun::ray_sensor_t::simulate_component(), and cajun::ray_sensor_t::test_ray_sensor_collision().

float cajun::distance	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

References sqr().

void cajun::get_rotation_matrix	(	double	rot[16],
		double	heading,
		double	pitch,
		double	roll
	)

References tform_mult().

Referenced by cajun::waypoint_controller_t::steering_observer_t::steering_observer_t(), cajun::script_controller_t::steering_observer_t::steering_observer_t(), cajun::waypoint_controller_t::steering_observer_t::timeout(), and cajun::script_controller_t::steering_observer_t::timeout().

void cajun::HomogTformPt	(	double	T[3][4],
		double	x[3],
		double	p[3]
	)

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

void cajun::load_ppm_p3	(	char *	fname,
		unsigned int *	w,
		unsigned int *	h,
		unsigned char **	data,
		int	mallocflag
	)

void cajun::load_ppm_p6	(	char *	fname,
		unsigned int *	w,
		unsigned int *	h,
		unsigned char **	data,
		int	mallocflag
	)

void cajun::matrix_to_euler	(	const double	m[16],
		double &	heading,
		double &	attitude,
		double &	bank
	)

float cajun::mod

(

float

i

)

void cajun::my_sleep

(

double

mSec

)

void cajun::Normal_Plane	(	float	v[3],
		float	x[3],
		float	y[3],
		float	z[3]
	)

float cajun::radian

(

float

te

)

Referenced by cajun::ray_sensor_t::get_orientation_matrix().

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_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_Sky	(	float	size,
		float	color[3],
		int	texon,
		char *	ppmname
	)

double cajun::sqr

(

double

x

)

Referenced by calculate_distance(), distance(), cajun::non_simulated_object_t::get_data(), and cajun::sog_sensor_t::update_sog_data().

void cajun::tform_mult	(	double	a[3][4],
		double	b[3][4],
		double	c[3][4]
	)

Referenced by cajun::ray_sensor_t::get_orientation_matrix(), cajun::sim_world_object_t::get_rotation_matrix(), get_rotation_matrix(), cajun::sim_world_object_t::set_geom_orientation(), cajun::laser_sensor_t::simulate_component(), and cajun::laser_sensor_t::update_position().