peekabot Namespace Reference

---

Detailed Description

This file is part of peekabot.

peekabot is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

peekabot is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Classes
class	Action
	Abstract base class for all actions. More...
class	ActionResult
class	ActionMonitor
	Monitors the outcome of an aggregated action and reports it back to the proxy. More...
class	ActionResultContainer
	Stores an ActionResult, of any type that can be serialized, deserialized and constructed by the the ActionResultFactory. More...
class	AddGeneric
class	AddModel
class	AddOccupancyGrid2D
class	AddRobot
class	Assign
class	Bundle
	An action that ensures that all actions added to it are executed in the same frame. More...
class	DeregisterPseudonym
class	GetChildren
	This action fetches the orientation of an object and returns it to the source proxy - it is not intended for usage by components other than the proxy. More...
class	GetOrientation
	This action fetches the orientation of an object and returns it to the source proxy - it is not intended for usage by components other than the proxy. More...
class	GetPosition
	This action fetches the position of an object and returns it to the source proxy - it is not intended for usage by components other than the proxy. More...
class	GetTransformation
	This action fetches the transformation of an object and returns it to the source proxy - it is not intended for usage by components other than the proxy. More...
class	LoadScene
class	MonitorReport
	Contains the outcome of an action executed in the server, which is then reported to back to the source proxy. More...
class	MoveObjectRelative
class	NoOp
	An action that does absolutely nothing. More...
class	PanCamera
class	RearrangeObject
class	RegisterPseudonym
class	RemoveObject
class	RotateCamera
class	RotateObject
class	SetColor
class	SetDOFValue
	Set the value of the given DOF. More...
class	SetFOV
class	SetGridCentralAngle
class	SetGridSegments
class	SetGridType
class	SetLabelAlignment
class	SetLabelText
class	SetLayer
class	SetLineStyle
class	SetLineWidth
class	SetMetaName
class	SetName
class	SetOccupancyGrid2DCells
	This action is used to set the coordinates of a object. More...
class	SetOpacity
class	SetOrientation
	Set the orientation of an object. More...
class	SetOrthographic
class	SetPose
	An action that merges the procedure for setting an object's position and orientation into one easy to use package. More...
class	SetPosition
	Sets the position of an object without affecting its orientation. More...
class	SetRotation
class	SetScale
class	SetSensorData
class	SetTransformation
	Set the model to parent transformation of an object, i.e. set its coordinate system. More...
class	SetVertices
	Action used to set or add coordinates of a vertex-based object. More...
class	SetVisibility
class	SetZoomDistance
class	ViewportMove
class	ViewportRotate
class	Bumper
class	CameraObject
	Class representing cameras in the scene. More...
class	ChunkedBuffer
	A dynamically growing buffer that grows in large chunks. More...
class	DOF
	An interface for providing a robot with a degree of freedom, in a way that's convinient to work with for the the users of both the server and proxy library. More...
class	DefaultFactoryError
	Default error policy for object factories. More...
class	Factory
	A generic and flexible object factory implementation. More...
class	FactoryInformer
class	GenericResult
	An action result class that can be used to transmit basic peekabot types. More...
class	CubeObject
	Class representing the cube geometric primitive. More...
class	CylinderObject
	Class representing the cylinder geometric primitive. More...
class	SphereObject
	Class representing the sphere geometric primitive. More...
class	CircleObject
	Class representing the circle geometric primitive. More...
class	PolyLineObject
	Class representing the polyline geometric primitive. More...
class	PolygonObject
class	GridObject
	A grid object. More...
class	GroupObject
	Class representing a group of other objects. More...
class	HandlerInformer
class	IDAllocator
	Generic ID allocator interface. More...
class	DefaultIDAllocator
class	IDTranslationTable
class	JointDOF
	A rotational joint DOF. More...
class	Label
	A text label primitives, for showing orientable, scalable labels. More...
class	LineBased
	An abstraction of objects in the scene that are scalable. More...
class	LineCloud
	Primitive for efficient representation of line clouds. More...
class	Log
	A class for logging messages to file. More...
class	Matrix4
class	Message
	A message class used to pass around information that's to be shown to the user or logged. Typically carries error or information messages. More...
class	MessageFormatter
	An interface providing methods for formatting messages, i.e. turning a Message object into a string. More...
class	MessageHub
	A facility for subscribing to and publishing messages of various types - debug and client messages, for example. More...
class	ModelObject
	Class representing externally modeled objects in the scene. More...
class	ObjectIDTranslator
class	ObjectVisitor
	Interface for visitors of SceneObject derived classes. More...
class	OccupancyGrid2D
class	PathIdentifier
	PathIdentifier is an auxillary class that provides a single interface for referring to objects in the scene tree, independent of whether the underlying identifier is an ObjectID, a path or a mixture of a path and an object ID. More...
class	PointCloud
	Primitive for efficient representation of point clouds. More...
class	PointSetObject
	Class representing cameras in the scene. More...
class	PrintfFormatter
	A MessageFormatter providing flexible formatting options similar in form and function to what's provided by C's printf function. More...
class	PseudonymCatalog
class	Rangefinder
	A sensor data interpreter class for laser rangefinders. More...
class	RendererRelay
	Traps graphical changes to the scene and forwards the information to the renderer. More...
class	RobotObject
	A SceneObject subtype that models robots. More...
class	ScalableObject
	An abstraction of objects in the scene that are scalable. More...
class	SceneFileLoader
class	SceneObject
	The base object class. More...
class	SceneTree
class	SceneTreePtr
class	TheSceneTree
class	ScopedHandler
	XML input handler class that organizes handler methods by scopes corresponding to the hierarchical levels in the XML document. More...
class	ScopedMap
	Map for storing dynamic variables of arbitrary type, whose value can be overridden in local scopes. More...
class	Sensor
	Represents a sensor data interpreter for a specific type of sensor. More...
class	SensorFactory
class	SensorObject
	Class representing robot sensors. More...
class	DeserializationInterface
	An interface for reading binary data independent of their byte order. It's independent of the underlying data source. More...
class	Serializable
class	SerializableFactory
class	SerializationInterface
	An interface for writing binary data in a format compatible with DeserializationBuffer. It's independent of the underlying data source. More...
struct	Fixture
class	ServerActuator
class	ServerExecutionContext
class	Singleton
class	SnapshotWriter
class	Subscriber
	An interface that can be implemented to gain message recieving capability, as in messages published by a MessageHub. More...
class	TrackDOF
	A linear displacement DOF. More...
struct	SourceID
	Describes the id and type of an Action generator. More...
struct	RGBColor
	A dumb RGB color struct. More...
struct	RGBAColor
struct	Opacity
	The type used to describe opacity for objects throughout the application. More...
class	Vector3
class	Vector4
	A four dimensional vector class. More...
class	Vector2
	A two dimensional vector class. More...
class	VertexObject
class	XercesParser
	An implementation of the XMLParser interface using the Xerces-C++ library. More...
class	XMLHandler
	Base class for handling SAX2 XML parsing events. More...
class	XMLParser
	Interface for SAX2 XML parsers. More...
class	XMLParserFactory
Typedefs
typedef DeserializationInterface	DeserializationBuffer
typedef SerializationInterface	SerializationBuffer
typedef boost::posix_time::ptime	Timestamp
typedef AddGeneric< CameraObject >	AddCamera
typedef AddGeneric< CircleObject >	AddCircle
typedef AddGeneric< CubeObject >	AddCube
typedef AddGeneric < CylinderObject >	AddCylinder
typedef AddGeneric< GridObject >	AddGrid
typedef AddGeneric< GroupObject >	AddGroup
typedef AddGeneric< Label >	AddLabel
typedef AddGeneric< LineCloud >	AddLineCloud
typedef AddGeneric< PointCloud >	AddPointCloud
typedef AddGeneric< PolygonObject >	AddPolygon
typedef AddGeneric< SphereObject >	AddSphere
typedef Assign< CameraObject >	AssignCamera
typedef Assign< CircleObject >	AssignCircle
typedef Assign< CubeObject >	AssignCube
typedef Assign< CylinderObject >	AssignCylinder
typedef Assign< DOF >	AssignDOF
typedef Assign< GridObject >	AssignGrid
typedef Assign< GroupObject >	AssignGroup
typedef Assign< Label >	AssignLabel
typedef Assign< LineBased >	AssignLineBased
typedef Assign< LineCloud >	AssignLineCloud
typedef Assign< ModelObject >	AssignModel
typedef Assign< OccupancyGrid2D >	AssignOccupancyGrid2D
typedef Assign< PointCloud >	AssignPointCloud
typedef Assign< PolygonObject >	AssignPolygon
typedef Assign< RobotObject >	AssignRobot
typedef Assign< ScalableObject >	AssignScalable
typedef Assign< SensorObject >	AssignSensor
typedef Assign< SphereObject >	AssignSphere
typedef Assign< VertexObject >	AssignVertexBased
typedef Singleton < atl::ActionTransporter >	TheActionTransporter
typedef Singleton < conf::Configuration >	TheConfiguration
typedef Singleton < IDTranslationTable >	TheIDTranslationTable
typedef Matrix4< real_unit >	Matrix4ru
typedef Matrix4< real32 >	Matrix4f
typedef Matrix4< real64 >	Matrix4d
typedef Matrix4ru	Matrix4r
	The Matrix type used internally in the render engine. (deprecated).
typedef Singleton< MessageHub >	TheMessageHub
	A singleton for accessing a the message hub used by all, as there should be only a single, shared message hub.
typedef Singleton< RendererRelay >	TheRendererRelay
typedef Singleton< SensorFactory >	TheSensorFactory
typedef Singleton < SerializableFactory >	TheSerializableFactory
typedef Singleton< ServerActuator >	TheServerActuator
typedef float	real32
	32 bit real number type.
typedef double	real64
	64 bit real number type.
typedef real32	real_unit
	The type used for real numbers throughout the application.
typedef uint32_t	ObjectID
	Type for uniquely identifying each object in the scene.
typedef Vector3< real_unit >	Vector3ru
typedef Vector3< real32 >	Vector3f
typedef Vector3< real64 >	Vector3d
typedef Vector3< real_unit >	Vector3r
	The Vector type used internally in the render engine.
typedef Vector4< real_unit >	Vector4ru
typedef Vector4< real32 >	Vector4f
typedef Vector4< real64 >	Vector4d
typedef Vector4< real_unit >	Vector4r
	The Vector type used internally in the render engine.
typedef Vector2< float >	Vector2f
Enumerations
enum	MessageType {   CLIENT_MESSAGE = 0, INFO_MESSAGE = 1, WARNING_MESSAGE = 2, ERROR_MESSAGE = 3,   DEBUG_MESSAGE = 4, LOG_MESSAGE = 5 }
	Enumerates all the different categories that a message can be of. More...
enum	{ INVALID_ID = 0, ROOT_OBJECT_ID = 1, DEFAULT_CAMERA_OBJECT_ID = 2, FIRST_UNRESERVED_ID = 100 }
enum	NameConflictPolicy { FAIL_ON_CONFLICT, AUTO_ENUMERATE_ON_CONFLICT, REPLACE_ON_CONFLICT, ALIAS_ON_CONFLICT }
	The different actions peekabot can take to resolve a name conflict. More...
enum	LineStyle {   LINE_STYLE_SOLID = 0xFFFF, LINE_STYLE_DOTTED = 0x8888, LINE_STYLE_DASHED = 0xFF80, LINE_STYLE_DASH_DOT = 0xFF88,   LINE_STYLE_DASH_DOT_DOT = 0xFE44 }
enum	GridType { REGULAR_GRID = 0, RADIAL_GRID = 1, ANGULAR_GRID = 2 }
enum	TextAlignment { ALIGN_LEFT = 0, ALIGN_RIGHT = 1, ALIGN_CENTER = 2 }
Functions
template<class T>
T *	switch_byte_order (T *p, const size_t element_count)
	: Converts indata from LE or BE to BE or LE respectively.
const SourceID	GUI_SOURCE_ID (SourceID::GUI_ID, SourceID::SERVER)
const SourceID	NOBODY_SOURCE_ID (SourceID::NOBODY_ID, SourceID::SERVER)
void	init ()
void	cleanup ()
template<class T>
std::ostream &	operator<< (std::ostream &os, const Matrix4< T > &m)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const Matrix4< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, Matrix4< T > &x)
SerializationInterface &	operator<< (SerializationInterface &ar, const PathIdentifier &path_ident)
DeserializationInterface &	operator>> (DeserializationInterface &ar, PathIdentifier &path_ident)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const std::vector< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, std::vector< T > &x)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const std::list< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, std::list< T > &x)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const std::set< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, std::set< T > &x)
template<class K, class V>
SerializationInterface &	operator<< (SerializationInterface &ar, const std::map< K, V > &x)
template<class K, class V>
DeserializationInterface &	operator>> (DeserializationInterface &ar, std::map< K, V > &x)
DeserializationInterface &	operator>> (DeserializationInterface &ar, std::string &str)
template<class U, class V>
SerializationInterface &	operator<< (SerializationInterface &ar, const std::pair< U, V > &x)
template<class U, class V>
DeserializationInterface &	operator>> (DeserializationInterface &ar, std::pair< U, V > &x)
SerializationInterface &	operator<< (SerializationInterface &ar, const std::string &str)
void	set_nonblocking (SocketType sock)
void	sockets_init ()
void	sockets_cleanup ()
std::ostream &	operator<< (std::ostream &os, const RGBColor &color)
std::ostream &	operator<< (std::ostream &os, const RGBAColor &color)
std::ostream &	operator<< (std::ostream &os, const Opacity &x)
SerializationInterface &	operator<< (SerializationInterface &ar, const RGBColor &x)
DeserializationInterface &	operator>> (DeserializationInterface &ar, RGBColor &x)
SerializationInterface &	operator<< (SerializationInterface &ar, const RGBAColor &x)
DeserializationInterface &	operator>> (DeserializationInterface &ar, RGBAColor &x)
SerializationInterface &	operator<< (SerializationInterface &ar, const Opacity &x)
DeserializationInterface &	operator>> (DeserializationInterface &ar, Opacity &x)
template<class T>
Vector3< T >	operator* (T scalar, const Vector3< T > &v)
template<class T>
Vector4< T >	operator* (T scalar, const Vector4< T > &v)
template<class T>
Vector2< T >	operator* (T scalar, const Vector2< T > &v)
template<class T>
std::ostream &	operator<< (std::ostream &os, const Vector3< T > &v)
template<class T>
std::ostream &	operator<< (std::ostream &os, const Vector4< T > &v)
template<class T>
std::ostream &	operator<< (std::ostream &os, const Vector2< T > &v)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const Vector3< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, Vector3< T > &x)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const Vector4< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, Vector4< T > &x)
template<class T>
SerializationInterface &	operator<< (SerializationInterface &ar, const Vector2< T > &x)
template<class T>
DeserializationInterface &	operator>> (DeserializationInterface &ar, Vector2< T > &x)
Variables
const SourceID	GUI_SOURCE_ID
const SourceID	NOBODY_SOURCE_ID
const uint32_t	NUMBER_OF_LAYERS = 16
	Constant setting the number of visibility layers supported.

---

Typedef Documentation

typedef uint32_t ObjectID

Type for uniquely identifying each object in the scene.

Each object is assigned a unique ObjectID upon creation, and keeps it until the object is destroyed, after which the ObjectID may be assigned to another object. There are three reserved ObjectIDs that have special meaning:

• ObjectID 0 - This simply means no object at all, and is sometimes returned by certain functions to indicate failure.
• ObjectID 1 - This is the ID of the root of the SceneTree, which is automatically created at startup and can never be deleted.
• ObjectID 2 - This is the ID of the default camera, which is created along with the root node at startup, and cannot be deleted.

---

Enumeration Type Documentation

enum MessageType

Enumerates all the different categories that a message can be of.

Enumerator:

CLIENT_MESSAGE	Messages that somehow originate from a clients belong to this category.
INFO_MESSAGE	Messages of purely informational nature. An example could be "GL_ARB_vertex_buffer_object not present, falling back on vertex arrays".
WARNING_MESSAGE	Warning messages. A notice about an action that failed to execute is a typical example. They shouldn't contain information that is critical to the typical end user and will generally not be read unless actively searching for incorrect or unexpected behaviour.
ERROR_MESSAGE	Error messages.
DEBUG_MESSAGE	Debug messages. Use for debugging print outs only.
LOG_MESSAGE	Messages of purely informational nature, but not intended for display to the user. An example could be logging the available OpenGL extensions.

enum NameConflictPolicy

The different actions peekabot can take to resolve a name conflict.

Manually ensuring that all paths are globally unique can be quite cumbersome. To make your life easier peekabot can often automatically resolve name conflicts for you if you ask it to - this applies to SceneObject::attach() and all proxy add methods, for example.

Enumerator:

FAIL_ON_CONFLICT	Fail on conflict. If a name conflict occurs, this mode will cause the offending operation to fail.
AUTO_ENUMERATE_ON_CONFLICT	Auto-enumerate on conflict. E.g. if an object named test already exists, rename the added object to test1.
REPLACE_ON_CONFLICT	Replace on conflict. If a name conflict occurs, replace the old object of the same name with the new object.
ALIAS_ON_CONFLICT	Alias on conflict. If a name conflicting arises when creating a new object, simply return a handle that is an alias of the existing object instead. If the existing object is of a different type than the object being created, the action will fail.

---

Function Documentation

T* peekabot::switch_byte_order	(	T *	p,
		const size_t	element_count
	)			[inline]

: Converts indata from LE or BE to BE or LE respectively.

Parameters:

	p	The array of data to be converted.
	element_count	The number of elements in the p array.

Returns:

A pointer to the modified array.