uvsim Namespace Reference

Classes

class  HUDView
 HUDView Class. More...
class  MainWindow
 MainWindow Class. More...
class  MapArea
 MapArea Class. More...
class  ThreeDView
 ThreeDView Class. More...
union  checksum
class  ControlComm
class  Controller
class  ServoController
class  AhrsErrorDynamics
class  LinearModel
 Linear Model Class. More...
class  Model
class  FlightPlan
 FlightPlan Class. More...
class  GeoCoord
 GeoCoord Class. More...
class  Guide
 Guide class. More...
class  ExtendedKalmanFilter
 Extended Kalman Filter Class. More...
class  GeoMag
class  Ins
class  KalmanFilter
 Kalman Filter Class. More...
class  Navigator
class  Camera
 The camera class implements and opencv camera. More...
class  DepthEngine
class  Imu6DofSensor
class  Sensor
 The sensor class defines the interface for all of the sensors. More...
class  StereoEngine
class  VisionThread
class  ControlThread
class  NavigationThread
class  UgvSystem
class  RealtimeThread
class  Ellipsoid
class  FrameCallback
class  Frame
class  PointCloudCallback
class  PointCloud
class  SimpleViewer

Typedefs

typedef std::vector
< osg::ref_ptr< osg::Image > > 
ImageList

Enumerations

enum  ControlMode { AUTO, MANUAL }

Functions

std::ostream & operator<< (std::ostream &out, FlightPlan &flightPlan)
std::ostream & operator<< (std::ostream &out, GeoCoord &geoCoord)
void * runViewerThread (void *ptr)
template<class T >
bool InvertMatrix (const matrix< T > &input, matrix< T > &inverse)
bool fileExists (const char *filename)
std::string doubleToString (double val)
std::string intToString (int val)
static bool console_initialize_terminfo ()
void cursorxy (int col, int line)
void clear (bool gohome)
void lowPass (const double &freq, const vector< double > &freqCut, const vector< double > &x, vector< double > &y)
matrix< double > ones (int m, int n)
matrix< double > skew (vector< double > &v)
double max (vector< double > v)
matrix< double > inv (const matrix< double > &input)
 Matrix inversion routine.
matrix< double > pinv (matrix< double > A)
bool select (double real, double imag)
matrix< double > dare (matrix< double > A, matrix< double > B, matrix< double > R, matrix< double >Q)
matrix< double > prod (matrix< double > A, matrix< double > B, matrix< double > C)
void discretize (matrix< double > &Ac, matrix< double > &Bc, matrix< double > &Ad, matrix< double > &Bd, double T, int order)
vector< double > integrate (vector< double > i1, vector< double > i0, vector< double > initial, double freq)
double integrate (double i1, double i0, double initial, double freq)
double elapsedTime (timeval time0, timeval time)
vector< double > quatProd (vector< double > q1, vector< double > q2)
vector< double > quatRotate (vector< double > q, vector< double > vec)
vector< double > crossProd (vector< double > v1, vector< double > v2)
vector< double > quatConj (vector< double > q)
vector< double > quat2Euler (vector< double > q)
vector< double > euler2Quat (vector< double > euler)
vector< double > axisAngle2Quat (vector< double > axis, double angle)
vector< double > norm (vector< double > vec)
vector< double > dotProd (vector< double > v1, vector< double > v2)

Variables

int keyDown
int setCounter = 0
int orderCounter = 0
static const char m_msgHeader = 'A'
static const char m_msgFooter = 'Z'
static const char * joystickCalibration = "/usr/local/share/uvsim/joystick"
static const char exitMenuCmd = '9'
static const char stopCmd = ' '
static const char startCmd = '#'
static const double R0 = 6371000
static const double omega = 7.29211e-5
static const double g = 9.81
static const double PI = 3.1415926535897932384626433832795
static const int byteRange = 1024
static const double gRange = 2.0
static const double acellMax = gRange * g
static const double rollMax = 500 * PI/180
static char * console_clearscreen = 0
static char * console_cursorposition = 0

Typedef Documentation

typedef std::vector< osg::ref_ptr<osg::Image> > uvsim::ImageList

Definition at line 50 of file Frame.h.


Enumeration Type Documentation

Enumerator:
AUTO 
MANUAL 

Definition at line 30 of file UgvSystem.h.


Function Documentation

vector< double > uvsim::axisAngle2Quat ( vector< double >  axis,
double  angle 
)

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void uvsim::clear ( bool  gohome  ) 

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static bool uvsim::console_initialize_terminfo (  )  [static]

Definition at line 53 of file utilities.cc.

vector< double > uvsim::crossProd ( vector< double >  v1,
vector< double >  v2 
)

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void uvsim::cursorxy ( int  col,
int  line 
)
matrix< double > uvsim::dare ( matrix< double >  A,
matrix< double >  B,
matrix< double >  R,
matrix< double >  Q 
)
void uvsim::discretize ( matrix< double > &  Ac,
matrix< double > &  Bc,
matrix< double > &  Ad,
matrix< double > &  Bd,
double  T,
int  order 
)

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vector<double> uvsim::dotProd ( vector< double >  v1,
vector< double >  v2 
)
std::string uvsim::doubleToString ( double  val  ) 

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double uvsim::elapsedTime ( timeval  time0,
timeval  time 
)

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vector< double > uvsim::euler2Quat ( vector< double >  euler  ) 

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bool uvsim::fileExists ( const char *  filename  ) 

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double uvsim::integrate ( double  i1,
double  i0,
double  initial,
double  freq 
)
vector< double > uvsim::integrate ( vector< double >  i1,
vector< double >  i0,
vector< double >  initial,
double  freq 
)

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std::string uvsim::intToString ( int  val  ) 

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matrix< double > uvsim::inv ( const matrix< double > &  input  ) 

Matrix inversion routine.

Uses lu_factorize and lu_substitute in uBLAS to invert a matrix

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template<class T >
bool uvsim::InvertMatrix ( const matrix< T > &  input,
matrix< T > &  inverse 
) [inline]

Definition at line 26 of file InvertMatrix.h.

void uvsim::lowPass ( const double &  freq,
const vector< double > &  freqCut,
const vector< double > &  x,
vector< double > &  y 
)

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double uvsim::max ( vector< double >  v  ) 
vector< double > uvsim::norm ( vector< double >  vec  ) 

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matrix< double > uvsim::ones ( int  m,
int  n 
)

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std::ostream& uvsim::operator<< ( std::ostream &  out,
GeoCoord &  geoCoord 
)

Definition at line 49 of file GeoCoord.cc.

std::ostream& uvsim::operator<< ( std::ostream &  out,
FlightPlan &  flightPlan 
)

Definition at line 119 of file FlightPlan.cc.

matrix< double > uvsim::pinv ( matrix< double >  A  ) 
matrix< double > uvsim::prod ( matrix< double >  A,
matrix< double >  B,
matrix< double >  C 
)

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vector< double > uvsim::quat2Euler ( vector< double >  q  ) 

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vector< double > uvsim::quatConj ( vector< double >  q  ) 
vector< double > uvsim::quatProd ( vector< double >  q1,
vector< double >  q2 
)

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vector< double > uvsim::quatRotate ( vector< double >  q,
vector< double >  vec 
)

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void* uvsim::runViewerThread ( void *  ptr  ) 

Definition at line 487 of file StereoEngine.cc.

bool uvsim::select ( double  real,
double  imag 
)
matrix< double > uvsim::skew ( vector< double > &  v  ) 

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Variable Documentation

const double uvsim::acellMax = gRange * g [static]

Definition at line 19 of file constants.h.

const int uvsim::byteRange = 1024 [static]

Definition at line 17 of file constants.h.

char* uvsim::console_clearscreen = 0 [static]

Definition at line 50 of file utilities.cc.

char* uvsim::console_cursorposition = 0 [static]

Definition at line 51 of file utilities.cc.

const char uvsim::exitMenuCmd = '9' [static]

Definition at line 34 of file Imu6DofSensor.h.

const double uvsim::g = 9.81 [static]

Definition at line 15 of file constants.h.

const double uvsim::gRange = 2.0 [static]

Definition at line 18 of file constants.h.

const char* uvsim::joystickCalibration = "/usr/local/share/uvsim/joystick" [static]

Definition at line 22 of file ControlComm.h.

Definition at line 30 of file MainWindow.cc.

const char uvsim::m_msgFooter = 'Z' [static]

Definition at line 21 of file ControlComm.h.

const char uvsim::m_msgHeader = 'A' [static]

Definition at line 20 of file ControlComm.h.

const double uvsim::omega = 7.29211e-5 [static]

Definition at line 14 of file constants.h.

Definition at line 32 of file MainWindow.cc.

const double uvsim::PI = 3.1415926535897932384626433832795 [static]

Definition at line 16 of file constants.h.

const double uvsim::R0 = 6371000 [static]

Definition at line 13 of file constants.h.

const double uvsim::rollMax = 500 * PI/180 [static]

Definition at line 20 of file constants.h.

Definition at line 31 of file MainWindow.cc.

const char uvsim::startCmd = '#' [static]

Definition at line 36 of file Imu6DofSensor.h.

const char uvsim::stopCmd = ' ' [static]

Definition at line 35 of file Imu6DofSensor.h.


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