lobot Namespace Reference

Classes
class	ConfigDB
class	Configuration
class	Arbiter
class	Behavior
class	EmergencyStop
class	Extricate
class	Forward
class	LaserAvoid
class	SpeedArbiter
class	TurnArbiter
class	CompoundEye
class	EMD
class	EMD< void * >
class	EMD< input_type * >
class	IntegrationAlgo
class	Particle
class	ParticleFilter
class	Compositor
class	FireWireBus
struct	CameraParams
	Camera parameters "packet". More...
class	Grabber
class	ImageSource
class	InputSource
class	LaserRangeFinder
class	Motor
class	VideoRecorder
class	VideoStream
class	FOE
class	GabbianiModel
class	HornSchunck
class	HornSchunckFOE
class	HornSchunckMA
class	HornSchunckTTI
class	MotionAnalyzer
class	OpticalFlow
class	TTI
class	LocustModel
class	StaffordModel
class	App
struct	LoApp
class	ModelManagerStarter
class	messages
class	uhoh
struct	missing_libs
struct	thread_error
struct	bus_error
struct	camera_error
struct	vstream_error
struct	lrf_error
struct	motor_error
struct	customization_error
struct	unknown_model
struct	arbiter_error
struct	behavior_error
struct	misc_error
class	Shutdown
class	Thread
class	GLColor
class	UpdateLock
struct	min
struct	max
struct	sum_of_squares
class	out_of_range
class	dump_pair
	Function object to dump an std::pair to the given output stream. More...
class	CEDrawable
class	Drawable
class	GLCanvas
class	ImageDrawable
class	IntAlgoDrawable
struct	LaserViz
struct	LaserWindow
class	LaserWindowGrid
class	LaserWindowMarkings
class	LaserWindowRings
class	MainWindow
class	PFDrawable
class	SpikeTrainDrawable
typedef PixRGB< byte >	PixelType
typedef Image< PixelType >	ImageType
std::string	upstring (std::string)
	String case conversion.
std::string	downstring (std::string s)
float	sin (float angle)
	Trig functions for degrees rather than radians.
float	cos (float angle)
double	sin (double angle)
double	cos (double angle)
float	log (float n)
	Log functions for base 10.
double	log (double n)
float	exp (float n)
	Exponential functions.
double	exp (double n)
template<typename P>
void	delete_first (P &p)
	Pointer deletion when the pointer is part of an std::pair.
template<typename P>
void	delete_second (P &p)
template<typename P>
P::first_type	get_first (const P &p)
	Functions to retrieve the individual elements of a pair.
template<typename P>
P::second_type	get_second (const P &p)
Vector	operator * (float k, const Vector &V)
	Some quick operators for vectors.
Vector	operator * (const Vector &V, float k)
Vector	operator/ (const Vector &V, float k)
const ModelOptionCateg	MOC_CONFIG
	Config file options.
const ModelOptionDef	OPT_ConfigFile
Typedefs
typedef std::map< std::string, std::string >	KV
typedef std::map< std::string, KV >	DB
typedef std::pair< int, VideoFormat >	GrabMode
typedef MotionAnalyzer	MoA
typedef HornSchunckFOE::Filter	Filter
typedef void(*	RenderCB )(ImageType &, unsigned long)
typedef std::pair< RenderCB, unsigned long >	RenderHook
typedef std::vector< RenderHook >	RenderHooks
typedef Image< float >	GrayImage
typedef Point2D< int >	Point
	A convenient short-cut.
typedef Point2D< float >	Vector
typedef Image< Vector >	VectorImage
Enumerations
enum	{   MISSING_PTHREAD = 1, MISSING_LIBDC1394, MISSING_FFMPEG, MISSING_OPENCV,   MISSING_OPENGL, MISSING_LIBURG, THREAD_CREATION_FAILURE, MUTEX_INIT_ERROR,   RWLOCK_INIT_ERROR, RWLOCK_RDLOCK_FAILED, INIT_PROBLEM, NO_CAMERAS,   HIGHEST_NODE, CAMERA_NODES_FREED, BAD_CAMERA_NODE_INDEX, SETUP_FAILED,   START_TRANSMISSION_FAILED, MPEG_FILES_NOT_FOUND, NO_VIDEOSTREAM_SOURCE, NO_COMPOSITOR_SOURCES,   LRF_CONNECTION_FAILURE, LRF_DATA_RETRIEVAL_FAILURE, NO_LRF_SOURCE, MOTOR_READ_FAILURE,   BAD_OPTION, NO_SUCH_CONFIG_FILE, CONFIG_FILE_SYNTAX_ERROR, CONFIG_FILE_MEMORY_ERROR,   UNKNOWN_LOCUST_MODEL, UNKNOWN_INTEGRATION_ALGO, UNKNOWN_INTALGO_DRAWABLE, UNKNOWN_OPTICAL_FLOW_ALGO,   UNKNOWN_BEHAVIOR, ARBITER_NOT_RUNNING, UNSUPPORTED_TURN_DIRECTION, MOTOR_SYSTEM_MISSING,   LASER_RANGE_FINDER_MISSING, NO_INPUT_SOURCE, NOT_ENOUGH_LOCUSTS, PARTICLE_INDEX_OUT_OF_BOUNDS,   OPENCV_IMAGE_INIT_ERROR, SIGNALS_MASK_SETUP_FAILURE, SIGWAIT_FAILED }
Functions
void	dump_section (const DB::value_type &i)
template<typename T>
T	get_conf (const std::string &section, const std::string &key, const T &default_value=T())
template<>
PixelType	get_conf (const std::string &section, const std::string &key, const PixelType &defval)
template<typename T>
range< T >	get_conf (const std::string &section, const std::string &key, const range< T > &defval=range< T >(T(), T()))
template<typename T>
triple< T, T, T >	get_conf (const std::string &section, const std::string &key, const triple< T, T, T > &defval=make_triple(T(), T(), T()))
template<typename T>
T	video_conf (const std::string &key, const T &default_value=T())
	Retrieve settings from the video section of the config file.
template<typename T>
T	laser_conf (const std::string &key, const T &default_value=T())
	Retrieve settings from the laser section of the config file.
template<typename T>
T	motor_conf (const std::string &key, const T &default_value=T())
	Retrieve settings from the motor section of the config file.
template<typename T>
T	optical_flow_conf (const std::string &key, const T &default_value)
	Retrieve settings from the optical flow section of the config file.
template<typename T>
T	ui_conf (const std::string &key, const T &default_value=T())
	Retrieve settings from the ui section of the config file.
template<typename T>
T	global_conf (const std::string &key, const T &default_value=T())
	Retrieve settings from the global section of the config file.
template<typename T>
T	internal_conf (const std::string &key, const T &default_value=T())
static void	stop (const std::string &name)
template<typename T>
static T	conf (const std::string &key, const T &default_value)
static void	extricate (const std::string &name, int turn_angle, int drive_cmd)
static double	random_time_to_impact ()
Particle	operator/ (Particle p, double n)
static std::ostream &	operator<< (std::ostream &os, const Particle &p)
static bool	all_guns_blazing (const Particle &p)
static std::string	dump (const std::list< const LocustModel * > &locusts)
static std::string	dump (const Particle &p)
static std::string	dump_expected_rates (const Particle &p)
static Particle	doctored (const Particle &P, const std::vector< const LocustModel * > locusts)
static GrabMode	grab_mode_enums (const Dims &resolution)
static int	frame_rate_enum (float frame_rate)
static Dims	restrict_grab_size (const Dims &resolution)
static int	get_num_cameras ()
static bool	init_camera (int camera_number, int grab_mode, int frame_rate, dc1394_cameracapture *)
static int	setup_capture (const raw1394handle_t &, const nodeid_t &camera, int camera_number, int mode, int frame_rate, dc1394_cameracapture *)
static bool	start_transmission (dc1394_cameracapture *)
static void	release_camera (dc1394_cameracapture *, int camera_number)
static bool	laser_input ()
static HornSchunckFOE::Filter	create_filter (int w)
static float	weight (const Vector &v, float threshold)
static float	filter (int x, int y, const VectorImage &I, const Filter &F, float threshold)
static Vector	global_flow (const VectorImage &flow_field)
static int	dsmd_block_size (int dim, int ideal, int alt)
static int	rect_width (const Rectangle &R)
static int	rect_height (const Rectangle &R)
static Rectangle	compute_horz_dsmd_rect (int i, int block_size, const Rectangle &R)
static Rectangle	compute_vert_dsmd_rect (int i, int block_size, const Rectangle &R)
static double	membrane_potential (const GrayImage &I, const Rectangle &R)
static double	compute_dsmd_potential_R1_current (const GrayImage &current, const GrayImage &previous, const Rectangle &R1, const Rectangle &R2)
static double	compute_dsmd_potential_R2_current (const GrayImage &current, const GrayImage &previous, const Rectangle &R1, const Rectangle &R2)
static bool	lateral_motion (double p1, double p2, double threshold)
Dims	grab_size ()
float	grab_rate ()
bool	recording_enabled ()
std::string	recording_stem ()
bool	show_ui ()
static void	create_video_streams (const Dims &resolution, float frame_rate, LoApp::VideoStreams *V)
static void	create_video_recorders (const LoApp::VideoStreams &V, const std::string &mpeg_name_root, LoApp::VideoRecorders *R)
static void	create_drawables (const LoApp::Compositor *C, LoApp::Drawables *D)
static const char *	error_msg (int code)
void	draw_label (float x, float y, const char *label)
	Draw a text label in a GLUT window.
template<typename T>
int	sign (const T &t)
	The sign of a number.
template<typename T>
T	abs (const T &t)
	Absolute value for different numeric types.
template<typename T>
T	clamp (const T &value, const T &min, const T &max)
	Clamp a given value to the specified range.
template<typename T>
T	clamp (const T &value, const range< T > &range)
	Quick helper to clamp a given value to the specified range.
template<typename T>
T	clamp_angle (const T &angle)
	Quick helper to clamp a given angle to lie within 0 and 360 degrees.
template<typename T>
bool	is_zero (const T &t)
	Check if a floating-point number is near zero.
template<typename T>
int	round (const T &t)
	Round a floating-point number to the nearest integer.
template<typename T>
T	force_odd (const T &t)
	Force the supplied number to be an odd number.
template<typename T>
T	force_even (const T &t)
	Force the supplied number to be an even number.
unsigned long	make_long (int a, int b)
	Stuff two 16-bit ints into a long.
int	loword (unsigned long L)
	Extract the lower 16 bits of a long.
int	hiword (unsigned long L)
	Extract the higher 16 bits of a long.
template<typename T>
std::string	to_string (const T &t)
template<typename T>
T	from_string (const std::string &s, const T &defval=T())
template<>
std::string	from_string (const std::string &s, const std::string &)
template<typename T>
std::vector< T >	string_to_vector (const std::string &s)
	Converts a whitespace separated string of T into a vector of T.
template<typename T>
std::list< T >	string_to_list (const std::string &s)
	Converts a whitespace separated string of T into a list of T.
template<typename P>
void	delete_ptr (P p)
template<typename C, typename D>
void	purge_container (C &c, D delete_fn)
template<typename C>
void	purge_container (C &c)
template<typename C, typename T>
static void	connect (const C &container, T &target)
template<typename container>
void	dump (const container &C, const std::string &caller, const std::string &container_name="container")
template<typename T>
void	dump (const T *begin, const T *end, const std::string &caller, const std::string &container_name="array")
	Dump an array of type T given pointers to its first and last elements.
template<typename key_type, typename value_type>
void	dump (const std::map< key_type, value_type > &C, const std::string &caller, const std::string &container_name="container")
float	direction (const Vector &v)
	Return the radial direction of the supplied vector.
float	magnitude (const Vector &v)
	Return the magnitude of the supplied vector.
Vector	normalized (const Vector &v)
	Normalize the supplied vector and return the result.
const Vector &	get_vector (const VectorImage &I, int x, int y)
	From an image of vectors, extract the vector at pixel location (x,y).
static int	spike_width (int max)

---

Typedef Documentation

typedef Image<float> lobot::GrayImage

Although the "raw" input images are usually RGB and are also visualized in color, most image processing algorithms work with gray-scale images. Definition at line 76 of file LoTypes.H.

typedef PixRGB<byte> lobot::PixelType

Images captured from the video sources supported by Robolocust will usually have RGB pixels. Definition at line 69 of file LoTypes.H.

typedef Point2D<int> lobot::Point

A convenient short-cut. Definition at line 79 of file LoTypes.H.

typedef void(* lobot::RenderCB)(ImageType &, unsigned long)

All drawables render themselves into an image that then gets blitted to the Robolocust main window. To support the notion of arbitrary overlays on these drawing canvases, each drawable maintains a list of rendering callbacks. Once it's done rendering itself, the drawable object will invoke these callbacks in the order they were defined. Each client module that wishes to take advantage of this overlay rendering capbility must define an appropriate callback function. All such callbacks take two parameters, viz., the underlying image used by the drawable as its canvas and an optional data value specified by the client itself. This type defines a pointer to a function that takes an image as its first argument and the client-specified data value as the second. Definition at line 109 of file LoRenderCB.H.

typedef std::pair<RenderCB, unsigned long> lobot::RenderHook

When a client module specifies a rendering callback to a drawable, it has the option of supplying any data it likes to the drawable object. This client data will be passed back to the client when the callback is triggered. The client data is always exchanged between client and drawable as a long. One use, for example, is for the client object to cast its this pointer to a long and have that passed back. This way, a static member function can serve as the callback and the client data can be cast back from long to the client object type and dereferenced to get at member functions and data members. Thus, the drawable will maintain an appropriate client data value for each rendering callback. These two items of data are maintained in this STL pair. Definition at line 126 of file LoRenderCB.H.

typedef std::vector<RenderHook> lobot::RenderHooks

Every drawable maintains a list of rendering hooks in order to support drawing arbitrary overlays on its canvas. Clients must also specify these hooks using these lists. Definition at line 131 of file LoRenderCB.H.

typedef Point2D<float> lobot::Vector

Some parts of Robolocust rely on the notion of a vector (here, we are talking about the mathematical variety, not the container type). Although vectors and points are quite distinct concepts, we simply piggyback off the INVT Point2D implementation for our vectors. Definition at line 68 of file LoVector.H.

typedef Image<Vector> lobot::VectorImage

Some parts of Robolocust need the notion of a collection of vectors arranged in a 2D grid, i.e., an image of vectors. Definition at line 108 of file LoVector.H.

---

Function Documentation

template<typename T> T lobot::abs (  const T &  t  )  [inline]

Absolute value for different numeric types. Definition at line 83 of file LoUtils.H. Referenced by lobot::LaserWindowMarkings::set_maximum().

template<typename T> T lobot::clamp (  const T &  value, const range< T > &  range )  [inline]

Quick helper to clamp a given value to the specified range. Definition at line 101 of file LoUtils.H. References clamp().

template<typename T> T lobot::clamp (  const T &  value, const T &  min, const T &  max )

Clamp a given value to the specified range. Definition at line 90 of file LoUtils.H. Referenced by clamp(), lobot::GLColor::GLColor(), normalizeWithScale(), spike_width(), and lobot::LocustModel::update_lgmd().

template<typename T> T lobot::clamp_angle (  const T &  angle  )

Quick helper to clamp a given angle to lie within 0 and 360 degrees. Definition at line 108 of file LoUtils.H.

template<typename C, typename T> static void lobot::connect (  const C &  container, T &  target )  [static]

Quick helper to connect whatever is in the supplied container to the specified target object using push_back(). (Thus, the target object must supply a push_back() method and other necessary STL glue to make this work.) Definition at line 379 of file LoUtils.H. Referenced by BayesNetworkDialog::BayesNetworkDialog(), BeoChipMainForm::BeoChipMainForm(), BeoSubMappingQtMainForm::BeoSubMappingQtMainForm(), BeoSubQtMainForm::BeoSubQtMainForm(), BiasImageForm::BiasImageForm(), BiasSettingsDialog::BiasSettingsDialog(), BiasValImage::BiasValImage(), TCPcommunicator::contact(), CT2WSRegionTrainerForm::CT2WSRegionTrainerForm(), DescriptorVecDialog::DescriptorVecDialog(), GrabQtMainForm::GrabQtMainForm(), ImageQtMainForm::ImageQtMainForm(), ModelManagerControl::ModelManagerControl(), ModelManagerDialog::ModelManagerDialog(), ModelManagerWizard::ModelManagerWizard(), nv2_label_reader_send_patch_sync(), nv2_label_server_send_label(), HTTPClient::openConnection(), QtImageFrame::QtImageFrame(), QtImageStack::QtImageStack(), QtTestForm::QtTestForm(), ModelManagerWizard::refreshOptions(), RobotHeadForm::RobotHeadForm(), RT100ControlForm::RT100ControlForm(), lobot::LoApp::run(), SceneSettingsDialog::SceneSettingsDialog(), SceneUnderstandingForm::SceneUnderstandingForm(), SeaBee3MainDisplayForm::SeaBee3MainDisplayForm(), BiasSettingsDialog::setupTab(), SceneUnderstandingForm::showTraj(), BiasImageForm::showTraj(), SSCMainForm::SSCMainForm(), and VideoAnnotateMainForm::VideoAnnotateMainForm().

template<typename P> void lobot::delete_first (  P &  p  )

Pointer deletion when the pointer is part of an std::pair. Definition at line 281 of file LoUtils.H.

template<typename P> void lobot::delete_ptr (  P  p  )

Pointer deletion (useful in conjunction with STL algorithms and containers). WARNING: P must be a pointer type (e.g., int* rather than int). Definition at line 277 of file LoUtils.H.

float lobot::direction (  const Vector &  v  )  [inline]

Return the radial direction of the supplied vector. Definition at line 89 of file LoVector.H. References Point2D< T >::i, and Point2D< T >::j. Referenced by filter(), and findDirection().

void lobot::draw_label (  float  , float  , const char *  )

Draw a text label in a GLUT window. Definition at line 102 of file LoUtils.C.

template<typename key_type, typename value_type> void lobot::dump (  const std::map< key_type, value_type > &  C, const std::string &  caller, const std::string &  container_name = "container" )

The earlier version of the dump() function for dumping containers will only work with containers of built-in/standard types such as vector<int>, list<float>, etc. because it uses std::ostream_iterator, which, annoyingly enough, doesn't work with user-defined types. Therefore, the earlier dump() function won't dump std::map containers (because their value type is an std::pair). We work around this problem by providing this overloaded version of dump() especially for std::maps. Definition at line 438 of file LoUtils.H. References LERROR.

template<typename T> void lobot::dump (  const T *  begin, const T *  end, const std::string &  caller, const std::string &  container_name = "array" )

Dump an array of type T given pointers to its first and last elements. Definition at line 410 of file LoUtils.H. References dump().

template<typename container> void lobot::dump (  const container &  C, const std::string &  caller, const std::string &  container_name = "container" )

Debugging support: dump an STL container using LERROR DEVNOTE: Mostly suitable for small containers, e.g., vector of 10 numbers or something like that. Definition at line 396 of file LoUtils.H. References LERROR.

float lobot::exp (  float  n  )  [inline]

Exponential functions. Definition at line 199 of file LoUtils.H.

template<typename T> T lobot::force_even (  const T &  t  )

Force the supplied number to be an even number. Definition at line 138 of file LoUtils.H.

template<typename T> T lobot::force_odd (  const T &  t  )

Force the supplied number to be an odd number. Definition at line 131 of file LoUtils.H.

template<> std::string lobot::from_string (  const std::string &  s, const std::string &  )

from_string() specialization for strings. If the client wants a string from the input string, we just return the input string. If we were to apply the default version of this template function, we would end up parsing the input string as a whitespace separated string stream and only return the first string from this stream. Definition at line 242 of file LoUtils.H.

template<typename T> T lobot::from_string (  const std::string &  s, const T &  defval = T() )

Read from string. As above, works as long as type T defines an operator >> that reads from an istream. Definition at line 228 of file LoUtils.H. References t.

template<typename T> triple<T, T, T> lobot::get_conf (  const std::string &  section, const std::string &  key, const triple< T, T, T > &  defval = make_triple(T(), T(), T()) )

Convenience routine to return a triple from the specified section of the config file. Definition at line 309 of file LoConfig.H.

template<typename T> range<T> lobot::get_conf (  const std::string &  section, const std::string &  key, const range< T > &  defval = range<T>(T(), T()) )

Convenience routine to return a range<T> from the specified section of the config file. Definition at line 296 of file LoConfig.H. References Dlist::range().

template<> PixelType lobot::get_conf (  const std::string &  section, const std::string &  key, const PixelType &  defval )

A convenience routine to return an RGB color from the specified section of the config file. Definition at line 284 of file LoConfig.H. References PixRGB< T >::blue(), color, PixRGB< T >::green(), and PixRGB< T >::red().

template<typename T> T lobot::get_conf (  const std::string &  section, const std::string &  key, const T &  default_value = T() )  [inline]

A convenience routine to allow clients to not have to type the whole Configuration::get call... Definition at line 275 of file LoConfig.H.

template<typename P> P::first_type lobot::get_first (  const P &  p  )

Functions to retrieve the individual elements of a pair. Definition at line 288 of file LoUtils.H.

const Vector& lobot::get_vector (  const VectorImage &  I, int  x, int  y )  [inline]

From an image of vectors, extract the vector at pixel location (x,y). Definition at line 111 of file LoVector.H. References Image< T >::getVal(). Referenced by filter().

template<typename T> T lobot::global_conf (  const std::string &  key, const T &  default_value = T() )  [inline]

Retrieve settings from the global section of the config file. Definition at line 355 of file LoConfig.H.

int lobot::hiword (  unsigned long  L  )  [inline]

Extract the higher 16 bits of a long. Definition at line 156 of file LoUtils.H. References loword().

template<typename T> T lobot::internal_conf (  const std::string &  key, const T &  default_value = T() )  [inline]

Retrieve settings from the secret internal section of the configuration database. Definition at line 363 of file LoConfig.H. References LOCD_INTERNAL.

template<typename T> bool lobot::is_zero (  const T &  t  )

Check if a floating-point number is near zero. Definition at line 116 of file LoUtils.H. Referenced by operator/().

template<typename T> T lobot::laser_conf (  const std::string &  key, const T &  default_value = T() )  [inline]

Retrieve settings from the laser section of the config file. Definition at line 327 of file LoConfig.H.

float lobot::log (  float  n  )  [inline]

Log functions for base 10. Definition at line 186 of file LoUtils.H.

int lobot::loword (  unsigned long  L  )  [inline]

Extract the lower 16 bits of a long. Definition at line 150 of file LoUtils.H. Referenced by hiword().

float lobot::magnitude (  const Vector &  v  )  [inline]

Return the magnitude of the supplied vector. Definition at line 95 of file LoVector.H. References Point2D< T >::i, and Point2D< T >::j. Referenced by normalized().

unsigned long lobot::make_long (  int  a, int  b )  [inline]

Stuff two 16-bit ints into a long. Definition at line 144 of file LoUtils.H.

template<typename T> T lobot::motor_conf (  const std::string &  key, const T &  default_value = T() )  [inline]

Retrieve settings from the motor section of the config file. Definition at line 334 of file LoConfig.H.

Vector lobot::normalized (  const Vector &  v  )  [inline]

Normalize the supplied vector and return the result. Definition at line 101 of file LoVector.H. References magnitude().

Vector lobot::operator * (  float  k, const Vector &  V )  [inline]

Some quick operators for vectors. Definition at line 72 of file LoVector.H. References Point2D< T >::i, and Point2D< T >::j. Referenced by operator *(), and operator/().

template<typename T> T lobot::optical_flow_conf (  const std::string &  key, const T &  default_value )  [inline]

Retrieve settings from the optical flow section of the config file. Definition at line 341 of file LoConfig.H.

template<typename C> void lobot::purge_container (  C &  c  )

Releasing an STL container of pointers using the delete_ptr function. C: container type WARNING: C *must* be an STL container or provide an equivalent begin/end iterator interface and value_type typedef. This function would typically be used to clean-up a containers such as std::vector<int*> or other such containers of pointers. In this case, value_type would be int*. Definition at line 327 of file LoUtils.H. References purge_container().

template<typename C, typename D> void lobot::purge_container (  C &  c, D  delete_fn )

Releasing an STL container of pointers using a specific delete function (useful in cases of std::maps). C: container type D: delete function object type WARNING: C *must* be an STL container or *must* provide an equivalent begin/end iterator interface. This function would typically be used to clean-up maps. For example, an std::map<int, int*>. In this case, we cannot use delete_ptr<int*> directly because the map iterators point to std::pair objects whose first member is the key (int in this case) and whose second member is the value (int* in this case). Thus, we need to supply an appropriate delete function. In this case, that function would be delete_second<std::pair<int, int*>>. Definition at line 312 of file LoUtils.H. Referenced by purge_container(), and lobot::LoApp::~LoApp().

template<typename T> int lobot::round (  const T &  t  )

Round a floating-point number to the nearest integer. Definition at line 124 of file LoUtils.H. Referenced by OSGUtil::computeRange(), correctGabors(), PsychoDisplay::displayISCANcalib(), LocalizationMapEntity::drawMe(), drawRectOR(), AttentionGateStd::extractFeatureValues(), getContextPt(), getGeomRelProb(), junctionFilterFull(), junctionFilterPartial(), luminanceNTSC(), main(), MSTFilterFull(), MSTFilterPartial(), Pixels_xx_math_functions_xx_7(), convert_helper< dst_type, src_type, true, false >::rounded_convert(), convert_helper< dst_type, src_type, true, true >::rounded_convert(), convert_helper< dst_type, src_type, false, false >::rounded_convert(), convert_helper< dst_type, src_type, false, true >::rounded_convert(), SurpriseMapFFT< T >::setFFTModels(), StimMaker::SM_drawSingleTarget(), StimMaker::SM_makeUniformStim(), ScaleRemoveSurprise< FLOAT >::SRSinit(), and ScaleSurpriseControl< FLOAT >::SSCinit().

template<typename T> int lobot::sign (  const T &  t  )  [inline]

The sign of a number. Definition at line 76 of file LoUtils.H. Referenced by Pixels_xx_math_functions_xx_39().

float lobot::sin (  float  angle  )  [inline]

Trig functions for degrees rather than radians. Definition at line 163 of file LoUtils.H. Referenced by addNoise(), SeaBee::advanceRel(), BeoSubOneBal::advanceRel(), averageVectorAngle(), V4::buildRTables(), IT::buildRTables(), Geons3D::calcGeonLikelihood(), Contour::calcLineLikelihood(), TwoHalfDSketch::calcSketchLikelihood(), V2::cornerDetection(), cosec(), count_pixels(), V4d::createDescriptor(), ObjRecSPM::createVectorsAndKeypoints(), ObjRecBOF::createVectorsAndKeypoints(), createVectorsAndKeypoints(), cuda_global_dogFilter(), cuda_global_dogFilterHmax(), cuda_global_gaborFilter3(), dct(), HippocampusI::displayMap(), V1::EdgeState::distance(), dogFilter(), dogFilterHmax(), drawArrow(), ViewPort::drawCappedCylinder(), drawCircle(), drawCorner(), drawCrossOR(), ViewPort::drawCylinder(), drawEllipse(), drawFace(), drawLine(), drawRecRotate(), drawRectOR(), drawRobot(), drawSamples(), MotionEnergyPyrBuilder< T >::DrawVectors(), drawWorld(), ViewPort::dsMotion(), BeoLRF::evolve(), V2::evolve2(), V2::findLines(), gaborFilter(), gaborFilter2(), gaborFilter3(), gaborFilterRGB(), ObjRec::generateNewSquareState(), SubController::genSubImage(), V4::getBias(), getContextPt(), ParallelShape::getDist(), CircleShape::getDist(), OctagonShape::getDist(), SquareShape::getDist(), RectangleShape::getDist(), Scorbot::getEF_pos(), Scorbot::getEFPos(), V4::getGeonLikelihood(), PoolImage::getGLPosition(), BeoSubCross::getHoughLines(), BeoSubBin::getHoughLines(), V4::getImageGeonOutline(), V4d::getImageOutline(), IT::getObjectLikelihood(), covEstimate< T >::getP(), V4d::getParticleLikelihood(), PoolImage::getRealPosition(), grating(), Scorbot::gravityComp(), houghTransform(), image_patch(), Image_xx_orientedFilter_xx_1(), infoFFT(), IntgTrigTable< tabsiz_, nbits_ >::IntgTrigTable(), V2::lineSegmentDetection(), LogPolarTransform::LogPolarTransform(), main(), SeaBee3MainDisplayForm::makeCompassImage(), makeDash(), makeL(), makePlus(), makeQ(), makeT(), MapperI::moveParticles(), moveRobot(), TestHMR3300Listener::newData(), orientedFilter(), orientMe(), BeoSubPipe::pipeOrientation(), Pixels_xx_math_functions_xx_11(), World2DInput::placeLine(), BeoSonar::plotDists(), Localization::predict(), Camera::project(), BeoSub::PushRedLight(), putLine(), V2::region2rect(), V2::region_grow(), rotate(), geom::vec2< double >::set_polar_rad(), CorticalTransform::setup(), IT::showObject(), segmentImageMerge2::SIMstereoMatch(), sin(), sinc(), StimMaker::SM_drawSingleTarget(), squashQuadrangle(), segmentImageMerge::StereoMatch(), BeoSub::strafeRel(), tiltMe(), trigtab_init(), Localization::update(), StraightEdgeFinder::updateFrame(), HippocampusI::updateParticleMotion(), HippocampusI::updateParticleSlamObservation(), Particle::updatePosition(), BeoPilot::UpdatePosition(), Angle::vectorAdd(), vizDist(), V4d::voteForFeature(), V4::voteForFeature(), IT::voteForFeature(), and warp3D().

template<typename T> std::list<T> lobot::string_to_list (  const std::string &  s  )

Converts a whitespace separated string of T into a list of T. Definition at line 258 of file LoUtils.H.

template<typename T> std::vector<T> lobot::string_to_vector (  const std::string &  s  )

Converts a whitespace separated string of T into a vector of T. Definition at line 249 of file LoUtils.H.

template<typename T> std::string lobot::to_string (  const T &  t  )

Convenient (but perhaps not the most efficient) helper to convert various data types to strings. DEVNOTE: Works as long as type T defines an operator << that writes to an ostream. Definition at line 218 of file LoUtils.H. Referenced by create_video_recorders().

template<typename T> T lobot::ui_conf (  const std::string &  key, const T &  default_value = T() )  [inline]

Retrieve settings from the ui section of the config file. Definition at line 348 of file LoConfig.H. Referenced by show_ui(), and spike_width().

std::string lobot::upstring (  std::string  s  )

String case conversion. Definition at line 70 of file LoUtils.C. References transform().

template<typename T> T lobot::video_conf (  const std::string &  key, const T &  default_value = T() )  [inline]

Retrieve settings from the video section of the config file. Definition at line 320 of file LoConfig.H. Referenced by grab_rate().

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Variable Documentation

const ModelOptionCateg lobot::MOC_CONFIG

Initial value: { MOC_SORTPRI_2, "Controlling Lobot config file parameters" } Config file options. Definition at line 53 of file LoCommonOpts.C.

const ModelOptionDef lobot::OPT_ConfigFile

Initial value: { MODOPT_ARG_STRING, "ConfigFile", & MOC_CONFIG, OPTEXP_CORE, "This option specifies the configuration file that contains various\n" "tweaks and settings that different parts of the Robolocust programs\n" "use.\n", "config-file", '\0', "config-file-name", LOBOT_DEFAULT_CONFIG_FILE_NAME, } Definition at line 57 of file LoCommonOpts.C. Referenced by lobot::LoApp::parse_command_line().

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