cajun::scripted_camera_t Class Reference

#include <scripted_camera.H>

Inheritance diagram for cajun::scripted_camera_t:
cajun::component_interface_t

List of all members.

Public Member Functions

 scripted_camera_t (conf_t &conf, world_state_t *ws_, char const *camera_script_file, bool static_mode)
 Create a new scripted camera object.
void init_data ()
 Initialize scripted camera by reading configuration and events.
void update_data (double bot_pos[3])
 Will check cbmesg queue for new events triggered using the event watcher.
void display (double bot_pos[3])
 Function called during display loop.
void toggle_display ()
 Toggle displaying of the data.
void print_data ()
 Will print all scripted camera data.
void print_head ()
 Print head element of scripted camera data.
void print_tail ()
 Print tail element of scripted camera data.
unsigned size ()
 Print the size of the scripted camera data queue.
bool empty ()
 Test if the scripted camera data queue is empty.
scripted_camera_data_t head ()
 Get the head element from the scripted camera data queue.
void pop ()
 Remove the head element from the scripted camera data queue.
bool set_elem_free (scripted_camera_data_t &data, bool abs_tstamp, double tstamp, double eye_x, double eye_y, double eye_z, double ctr_x, double ctr_y, double ctr_z)
 Set a free-mode scripted camera data element.
bool set_elem_follow (scripted_camera_data_t &data, bool abs_tstamp, double tstamp, double eye_x, double eye_y, double eye_z)
 Set a follow-mode scripted camera data element.
bool set_elem_focus (scripted_camera_data_t &data, bool abs_tstamp, double tstamp, double eye_x, double eye_y, double eye_z)
 Set a focus-mode scripted camera data element.
bool set_elem_inside (scripted_camera_data_t &data, bool abs_tstamp, double tstamp, double rotation_angle, double elevation_angle)
 Set an inside-mode scripted camera data element.
bool set_elems_free_spline (queue< scripted_camera_data_t > &data, bool abs_tstamp_beg, double tstamp_beg, bool abs_tstamp_end, double tstamp_end, double eye_spline_pts[12], double ctr_spline_pts[12])
 Setup the spline and also timestamps for a free-mode spline.
bool set_elems_follow_spline (queue< scripted_camera_data_t > &data, bool abs_tstamp_beg, double tstamp_beg, bool abs_tstamp_end, double tstamp_end, double spline_pts[12])
 Setup the spline and also timestamps for a follow-mode spline.
bool set_elems_focus_spline (queue< scripted_camera_data_t > &data, bool abs_tstamp_beg, double tstamp_beg, bool abs_tstamp_end, double tstamp_end, double spline_pts[12])
 Setup the spline and also timestamps for a focus-mode spline.
bool set_elems_inside_spline (queue< scripted_camera_data_t > &data, bool abs_tstamp_beg, double tstamp_beg, bool abs_tstamp_end, double tstamp_end, double spline_pts[8])
 Setup the spline and also timestamps for a inside-mode spline.

Private Member Functions

bool skip_line (string read)
 Test if the given line needs to be skipped or not (commented).
void clear_queue ()
 Remove alll scripted camera data from the queue.
bool add_elem (scripted_camera_data_t &data)
 Add a data element to the scripted camera data queue.
bool parse_and_add_style (string read, bool is_from_event)
 Take a line of text and parse it as a camera style.
bool time_ok (double timestamp)
 Test if the given timestamp is ok to add to the queue.
double get_abs_tstamp (double rel_tstamp)
 Convert a relative timestamp into an absolute timestamp.
void print_elem (scripted_camera_data_t &data)
 Print a scripted camera data element.
bool set_elem (scripted_camera_data_t &data, double tstamp, camera_style_t style, double eye_x, double eye_y, double eye_z, double ctr_x, double ctr_y, double ctr_z)
 Used to set the scripted camera data element correctly.
bool set_spline (spline_curve_t &spline, bool abs_tstamp_beg, double &tstamp_beg, bool abs_tstamp_end, double &tstamp_end, double spline_pts_[12])
 Setup the spline and also timestamps.

Private Attributes

bool m_static_mode
 Currently unused.
bool m_draw_free_splines
 Should splines be drawn.
float m_draw_free_splines_vec_length
 Vector length for drawn splines.
char const * m_camera_script_file
 Script file containing scripted camera commands.
ifstream fd
 Handle for scripted camera file.
queue< scripted_camera_data_t > * m_data
 Scripted camera data queue.
event_watch_t m_event_watcher
 Used for checking for events from cbmesg.
const event_t * m_event
 An event that has occurred.
vector< event_t * > m_events
 List of events to watch for.
double m_spline_detail
 How detailed should the splines be.
cbmesg_data_t m_cbmesg_data
 Used for watching events.
bool m_cbmesg_ok
 Cbmesg data queue is ok.
bool m_events_take_priority
 If new events should wipe out the existing queue.

Constructor & Destructor Documentation

scripted_camera_t::scripted_camera_t ( conf_t &  conf,
world_state_t *  ws_,
char const *  camera_script_file,
bool  static_mode 
)

Create a new scripted camera object.

Parameters:
conf Conf handle to read in parameters.
ws_ World state handle to get cbmesg data.
camera_script_file To read scripted camera parameters.
static_mode Unused at the moment.

References fd, m_camera_script_file, m_data, m_draw_free_splines, m_draw_free_splines_vec_length, m_events_take_priority, m_spline_detail, m_static_mode, and cajun::component_interface_t::m_world_state.

Member Function Documentation

bool scripted_camera_t::add_elem ( scripted_camera_data_t &  data  )  [private]

Add a data element to the scripted camera data queue.

Parameters:
data The data element to add.
Returns:
True.

References m_data.

Referenced by parse_and_add_style().

void scripted_camera_t::clear_queue (  )  [private]

Remove alll scripted camera data from the queue.

References m_data.

Referenced by update_data().

void cajun::scripted_camera_t::display ( double  bot_bos_[3]  )  [inline, virtual]

Function called during display loop.

Implements cajun::component_interface_t.

bool scripted_camera_t::empty (  ) 

Test if the scripted camera data queue is empty.

Returns:
True if it is empty.

References m_data.

Referenced by cajun::simview_t::set_view().

double scripted_camera_t::get_abs_tstamp ( double  rel_tstamp  )  [private]

Convert a relative timestamp into an absolute timestamp.

Parameters:
rel_tstamp Time stamp in relative form.
Returns:
The timestamp in absolute form.

References m_data.

Referenced by set_elem_focus(), set_elem_follow(), set_elem_free(), set_elem_inside(), and set_spline().

scripted_camera_data_t scripted_camera_t::head (  ) 

Get the head element from the scripted camera data queue.

Returns:
The head element from the scripted camera data queue.

References m_data.

Referenced by cajun::simview_t::set_view().

void scripted_camera_t::init_data (  )  [virtual]

Initialize scripted camera by reading configuration and events.

Any events that need to be watched for are loaded here, as well as the camera styles from the script.

Reimplemented from cajun::component_interface_t.

References fd, m_camera_script_file, m_event_watcher, m_events, parse_and_add_style(), cajun::progname, and skip_line().

Referenced by cajun::simview_t::init_data().

bool scripted_camera_t::parse_and_add_style ( string  read,
bool  is_from_event 
) [private]

Take a line of text and parse it as a camera style.

Parameters:
read The line of text containing a camera style.
is_from_event If the text is event triggered, then absolute time is not used.
Returns:
True if the style was added.

References add_elem(), cajun::draw_camera_splines_t::add_eye(), cajun::draw_camera_splines_t::add_lookat(), m_draw_free_splines, m_draw_free_splines_vec_length, cajun::progname, set_elem_focus(), set_elem_follow(), set_elem_free(), set_elem_inside(), set_elems_focus_spline(), set_elems_follow_spline(), set_elems_free_spline(), and set_elems_inside_spline().

Referenced by init_data(), and update_data().

void scripted_camera_t::pop (  ) 

Remove the head element from the scripted camera data queue.

References m_data.

Referenced by cajun::simview_t::set_view().

void scripted_camera_t::print_data (  ) 

Will print all scripted camera data.

References m_data, and print_elem().

void scripted_camera_t::print_elem ( scripted_camera_data_t &  data  )  [private]

Print a scripted camera data element.

Parameters:
data The element to print.

References cajun::CAMERA_AT_ORIGIN, cajun::CAMERA_FOCUS_CAR, cajun::CAMERA_IN_CAR, cajun::CAMERA_WITH_CAR, cajun::scripted_camera_data_t::ctr_x, cajun::scripted_camera_data_t::ctr_y, cajun::scripted_camera_data_t::ctr_z, cajun::scripted_camera_data_t::eye_x, cajun::scripted_camera_data_t::eye_y, cajun::scripted_camera_data_t::eye_z, cajun::scripted_camera_data_t::style, and cajun::scripted_camera_data_t::tstamp.

Referenced by print_data(), print_head(), and print_tail().

void scripted_camera_t::print_head (  ) 

Print head element of scripted camera data.

References m_data, and print_elem().

void scripted_camera_t::print_tail (  ) 

Print tail element of scripted camera data.

References m_data, and print_elem().

bool scripted_camera_t::set_elem ( scripted_camera_data_t &  data,
double  tstamp,
camera_style_t  style,
double  eye_x,
double  eye_y,
double  eye_z,
double  ctr_x,
double  ctr_y,
double  ctr_z 
) [private]

Used to set the scripted camera data element correctly.

Parameters:
data The scripted camera data element to set.
tstamp Timestamp to apply for the element.
style Camera style of the element.
eye_x Eye x location.
eye_y Eye y location.
eye_z Eye z location.
ctr_x Lookat x location.
ctr_y Lookat y location.
ctr_z Lookat z location.
Returns:
False if timestamp is bad, true otherwise.

References cajun::CAMERA_FOCUS_CAR, cajun::CAMERA_IN_CAR, cajun::CAMERA_WITH_CAR, cajun::scripted_camera_data_t::ctr_x, cajun::scripted_camera_data_t::ctr_y, cajun::scripted_camera_data_t::ctr_z, cajun::scripted_camera_data_t::eye_x, cajun::scripted_camera_data_t::eye_y, cajun::scripted_camera_data_t::eye_z, cajun::progname, cajun::scripted_camera_data_t::style, time_ok(), and cajun::scripted_camera_data_t::tstamp.

Referenced by set_elem_focus(), set_elem_follow(), set_elem_free(), and set_elem_inside().

bool scripted_camera_t::set_elem_focus ( scripted_camera_data_t &  data,
bool  abs_tstamp,
double  tstamp,
double  eye_x,
double  eye_y,
double  eye_z 
)

Set a focus-mode scripted camera data element.

Parameters:
data The scripted camera data element to set.
abs_tstamp If the tstamp is in absolute form.
tstamp Timestamp to apply for the element.
eye_x Eye x location.
eye_y Eye y location.
eye_z Eye z location.
Returns:
False if timestamp is bad, true otherwise.

References cajun::CAMERA_FOCUS_CAR, get_abs_tstamp(), cajun::progname, and set_elem().

Referenced by parse_and_add_style(), and set_elems_focus_spline().

bool scripted_camera_t::set_elem_follow ( scripted_camera_data_t &  data,
bool  abs_tstamp,
double  tstamp,
double  eye_x,
double  eye_y,
double  eye_z 
)

Set a follow-mode scripted camera data element.

Parameters:
data The scripted camera data element to set.
abs_tstamp If the tstamp is in absolute form.
tstamp Timestamp to apply for the element.
eye_x Eye x location.
eye_y Eye y location.
eye_z Eye z location.
Returns:
False if timestamp is bad, true otherwise.

References cajun::CAMERA_WITH_CAR, get_abs_tstamp(), cajun::progname, and set_elem().

Referenced by parse_and_add_style(), and set_elems_follow_spline().

bool scripted_camera_t::set_elem_free ( scripted_camera_data_t &  data,
bool  abs_tstamp,
double  tstamp,
double  eye_x,
double  eye_y,
double  eye_z,
double  ctr_x,
double  ctr_y,
double  ctr_z 
)

Set a free-mode scripted camera data element.

Parameters:
data The scripted camera data element to set.
abs_tstamp If the tstamp is in absolute form.
tstamp Timestamp to apply for the element.
eye_x Eye x location.
eye_y Eye y location.
eye_z Eye z location.
ctr_x Lookat x location.
ctr_y Lookat y location.
ctr_z Lookat z location.
Returns:
False if timestamp is bad, true otherwise.

References cajun::CAMERA_AT_ORIGIN, get_abs_tstamp(), cajun::progname, and set_elem().

Referenced by parse_and_add_style(), and set_elems_free_spline().

bool scripted_camera_t::set_elem_inside ( scripted_camera_data_t &  data,
bool  abs_tstamp,
double  tstamp,
double  rotation_angle,
double  elevation_angle 
)

Set an inside-mode scripted camera data element.

Parameters:
data The scripted camera data element to set.
abs_tstamp If the tstamp is in absolute form.
tstamp Timestamp to apply for the element.
rotation_angle The left-right angle of the viewer.
elevation_angle The up-down angle of the viewer.
Returns:
False if element could not be set, true otherwise.

References cajun::CAMERA_IN_CAR, get_abs_tstamp(), cajun::progname, and set_elem().

Referenced by parse_and_add_style(), and set_elems_inside_spline().

bool scripted_camera_t::set_elems_focus_spline ( queue< scripted_camera_data_t > &  data,
bool  abs_tstamp_beg,
double  tstamp_beg,
bool  abs_tstamp_end,
double  tstamp_end,
double  spline_pts_[12] 
)

Setup the spline and also timestamps for a focus-mode spline.

The timestamps get converted appropriately and the spline is initialized from the given points.

Parameters:
data A queue of the generated elements.
abs_tstamp_beg If the beginning timestamp is in absolute form.
tstamp_beg The beginning timestamp.
abs_tstamp_end If the ending timestamp is in absolute form.
tstamp_end The ending timestamp.
spline_pts_ The control points to use for the spline curve.
Returns:
True if successful.

References m_spline_detail, cajun::progname, set_elem_focus(), and set_spline().

Referenced by parse_and_add_style().

bool scripted_camera_t::set_elems_follow_spline ( queue< scripted_camera_data_t > &  data,
bool  abs_tstamp_beg,
double  tstamp_beg,
bool  abs_tstamp_end,
double  tstamp_end,
double  spline_pts_[12] 
)

Setup the spline and also timestamps for a follow-mode spline.

The timestamps get converted appropriately and the spline is initialized from the given points.

Parameters:
data A queue of the generated elements.
abs_tstamp_beg If the beginning timestamp is in absolute form.
tstamp_beg The beginning timestamp.
abs_tstamp_end If the ending timestamp is in absolute form.
tstamp_end The ending timestamp.
spline_pts_ The control points to use for the spline curve.
Returns:
True if successful.

References m_spline_detail, cajun::progname, set_elem_follow(), and set_spline().

Referenced by parse_and_add_style().

bool scripted_camera_t::set_elems_free_spline ( queue< scripted_camera_data_t > &  data,
bool  abs_tstamp_beg,
double  tstamp_beg,
bool  abs_tstamp_end,
double  tstamp_end,
double  eye_spline_pts_[12],
double  ctr_spline_pts_[12] 
)

Setup the spline and also timestamps for a free-mode spline.

The timestamps get converted appropriately and the spline is initialized from the given points.

Parameters:
data A queue of the generated elements.
abs_tstamp_beg If the beginning timestamp is in absolute form.
tstamp_beg The beginning timestamp.
abs_tstamp_end If the ending timestamp is in absolute form.
tstamp_end The ending timestamp.
eye_spline_pts_ The control points to use for the eye spline curve.
ctr_spline_pts_ The control points to use for the lookat spline curve.
Returns:
True if successful.

References m_spline_detail, cajun::progname, set_elem_free(), and set_spline().

Referenced by parse_and_add_style().

bool scripted_camera_t::set_elems_inside_spline ( queue< scripted_camera_data_t > &  data,
bool  abs_tstamp_beg,
double  tstamp_beg,
bool  abs_tstamp_end,
double  tstamp_end,
double  spline_pts_[8] 
)

Setup the spline and also timestamps for a inside-mode spline.

The timestamps get converted appropriately and the spline is initialized from the given points.

Parameters:
data A queue of the generated elements.
abs_tstamp_beg If the beginning timestamp is in absolute form.
tstamp_beg The beginning timestamp.
abs_tstamp_end If the ending timestamp is in absolute form.
tstamp_end The ending timestamp.
spline_pts_ The control points to use for the spline curve, as a set of 4 pairs for (rotation_angle, elevation_angle)
Returns:
True if successful.

References m_spline_detail, cajun::progname, set_elem_inside(), and set_spline().

Referenced by parse_and_add_style().

bool scripted_camera_t::set_spline ( spline_curve_t &  spline,
bool  abs_tstamp_beg,
double &  tstamp_beg,
bool  abs_tstamp_end,
double &  tstamp_end,
double  spline_pts_[12] 
) [private]

Setup the spline and also timestamps.

The timestamps get converted appropriately and the spline is initialized from the given points.

Parameters:
spline An unitialized spline curve.
abs_tstamp_beg If the beginning timestamp is in absolute form.
tstamp_beg The beginning timestamp.
abs_tstamp_end If the ending timestamp is in absolute form.
tstamp_end The ending timestamp.
spline_pts_ The control points to use for the spline curve.
Returns:
True if successful.

References get_abs_tstamp(), cajun::progname, and time_ok().

Referenced by set_elems_focus_spline(), set_elems_follow_spline(), set_elems_free_spline(), and set_elems_inside_spline().

unsigned scripted_camera_t::size (  ) 

Print the size of the scripted camera data queue.

Returns:
The size of the scripted camera data queue.

References m_data.

bool scripted_camera_t::skip_line ( string  read  )  [private]

Test if the given line needs to be skipped or not (commented).

Parameters:
read The line to test.
Returns:
True if the line is a commented line.

Referenced by init_data().

bool scripted_camera_t::time_ok ( double  timestamp  )  [private]

Test if the given timestamp is ok to add to the queue.

Parameters:
timestamp The timestamp to test.
Returns:
True if the timestamp is ok.

References m_data.

Referenced by set_elem(), and set_spline().

void cajun::scripted_camera_t::toggle_display (  )  [inline, virtual]

Toggle displaying of the data.

Implements cajun::component_interface_t.

void scripted_camera_t::update_data ( double  bot_pos[3]  )  [virtual]

Will check cbmesg queue for new events triggered using the event watcher.

Parameters:
bot_pos Current bot position.

Implements cajun::component_interface_t.

References clear_queue(), m_event, m_event_watcher, m_events, m_events_take_priority, and parse_and_add_style().

Referenced by cajun::simview_t::update_data().

Member Data Documentation

ifstream cajun::scripted_camera_t::fd [private]

Handle for scripted camera file.

Referenced by init_data(), and scripted_camera_t().

char const* cajun::scripted_camera_t::m_camera_script_file [private]

Script file containing scripted camera commands.

Referenced by init_data(), and scripted_camera_t().

cbmesg_data_t cajun::scripted_camera_t::m_cbmesg_data [private]

Used for watching events.

bool cajun::scripted_camera_t::m_cbmesg_ok [private]

Cbmesg data queue is ok.

queue<scripted_camera_data_t>* cajun::scripted_camera_t::m_data [private]

Scripted camera data queue.

Referenced by add_elem(), clear_queue(), empty(), get_abs_tstamp(), head(), pop(), print_data(), print_head(), print_tail(), scripted_camera_t(), size(), and time_ok().

bool cajun::scripted_camera_t::m_draw_free_splines [private]

Should splines be drawn.

Referenced by parse_and_add_style(), and scripted_camera_t().

float cajun::scripted_camera_t::m_draw_free_splines_vec_length [private]

Vector length for drawn splines.

Referenced by parse_and_add_style(), and scripted_camera_t().

const event_t* cajun::scripted_camera_t::m_event [private]

An event that has occurred.

Referenced by update_data().

event_watch_t cajun::scripted_camera_t::m_event_watcher [private]

Used for checking for events from cbmesg.

Referenced by init_data(), and update_data().

vector<event_t *> cajun::scripted_camera_t::m_events [private]

List of events to watch for.

Referenced by init_data(), and update_data().

bool cajun::scripted_camera_t::m_events_take_priority [private]

If new events should wipe out the existing queue.

Referenced by scripted_camera_t(), and update_data().

double cajun::scripted_camera_t::m_spline_detail [private]

How detailed should the splines be.

Referenced by scripted_camera_t(), set_elems_focus_spline(), set_elems_follow_spline(), set_elems_free_spline(), and set_elems_inside_spline().

bool cajun::scripted_camera_t::m_static_mode [private]

Currently unused.

Referenced by scripted_camera_t().

The documentation for this class was generated from the following files:
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