main.cpp File Reference

#include <iostream>
#include <iomanip>
#include <sstream>
#include <fstream>
#include <string>
#include <cstdio>
#include <limits>
#include <cmath>
#include <opencv2/opencv.hpp>
#include <opencv2/core/version.hpp>
#include <opencv2/highgui/highgui_c.h>
#include <opencv2/highgui.hpp>
#include <vector>
#include <yarp/dev/Drivers.h>
#include <yarp/os/Network.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Time.h>
#include <yarp/os/Log.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/LogStream.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Image.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/PolyDriver.h>

Include dependency graph for main.cpp:

Go to the source code of this file.

Macros
#define	_USE_MATH_DEFINES
#define	DEG2RAD   M_PI/180.0
#define	ASPECT_LINE   0
#define	ASPECT_POINT   1

Functions
void	drawGrid (cv::Mat &img, double scale)
void	drawRobot (cv::Mat &img, double robot_radius, double scale)
void	drawCompass (const yarp::sig::Vector *comp, cv::Mat &img, bool absolute)
void	drawNav (const yarp::os::Bottle *display, cv::Mat &img, double scale)
void	drawLaser (const Vector *comp, std::vector< yarp::sig::LaserMeasurementData > *las, std::vector< yarp::sig::LaserMeasurementData > *lmap, cv::Mat &img, double angle_tot, int scans, double sens_position_x, double sens_position_y, double sens_position_t, double scale, bool absolute, bool verbose, int aspect)
void	display_help ()
int	main (int argc, char *argv[])

Variables
const CvScalar	color_bwhite = cvScalar(200,200,255)
const CvScalar	color_white = cvScalar(255,255,255)
const CvScalar	color_red = cvScalar(0,0,255)
const CvScalar	color_yellow = cvScalar(0,255,255)
const CvScalar	color_black = cvScalar(0,0,0)
const CvScalar	color_gray = cvScalar(100,100,100)
bool	g_lidar_debug_nan = false
bool	g_lidar_debug_inf = false

Macro Definition Documentation

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Definition at line 6 of file main.cpp.

ASPECT_LINE

#define ASPECT_LINE   0

Definition at line 49 of file main.cpp.

ASPECT_POINT

#define ASPECT_POINT   1

Definition at line 50 of file main.cpp.

DEG2RAD

#define DEG2RAD   M_PI/180.0

Definition at line 39 of file main.cpp.

Function Documentation

display_help()

void display_help

(

)

Definition at line 331 of file main.cpp.

drawCompass()

void drawCompass	(	const yarp::sig::Vector *	comp,
		cv::Mat &	img,
		bool	absolute
	)

Definition at line 124 of file main.cpp.

drawGrid()

void drawGrid	(	cv::Mat &	img,
		double	scale
	)

Definition at line 55 of file main.cpp.

drawLaser()

void drawLaser	(	const Vector *	comp,
		std::vector< yarp::sig::LaserMeasurementData > *	las,
		std::vector< yarp::sig::LaserMeasurementData > *	lmap,
		cv::Mat &	img,
		double	angle_tot,
		int	scans,
		double	sens_position_x,
		double	sens_position_y,
		double	sens_position_t,
		double	scale,
		bool	absolute,
		bool	verbose,
		int	aspect
	)

Definition at line 204 of file main.cpp.

drawNav()

void drawNav	(	const yarp::os::Bottle *	display,
		cv::Mat &	img,
		double	scale
	)

Definition at line 159 of file main.cpp.

drawRobot()

void drawRobot	(	cv::Mat &	img,
		double	robot_radius,
		double	scale
	)

Definition at line 101 of file main.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 359 of file main.cpp.

Variable Documentation

color_black

const CvScalar color_black = cvScalar(0,0,0)

Definition at line 46 of file main.cpp.

color_bwhite

const CvScalar color_bwhite = cvScalar(200,200,255)

Definition at line 42 of file main.cpp.

color_gray

const CvScalar color_gray = cvScalar(100,100,100)

Definition at line 47 of file main.cpp.

color_red

const CvScalar color_red = cvScalar(0,0,255)

Definition at line 44 of file main.cpp.

color_white

const CvScalar color_white = cvScalar(255,255,255)

Definition at line 43 of file main.cpp.

color_yellow

const CvScalar color_yellow = cvScalar(0,255,255)

Definition at line 45 of file main.cpp.

g_lidar_debug_inf

bool g_lidar_debug_inf = false

Definition at line 53 of file main.cpp.

g_lidar_debug_nan

bool g_lidar_debug_nan = false

Definition at line 52 of file main.cpp.