#include <ugmk.h>

Inheritance diagram for UGmk:

Public Member Functions
void	clear ()

const char *	getCode ()

unsigned long	getCodeInt ()

UTime	getTime ()

bool	isCrcValid ()

bool	isPosValid ()

bool	isValid ()

void	set (const char *newCode)

void	set (UPosition pos, URotation rot)

void	setPosValid (bool value)

void	setTime (UTime atTime)

	UGmk ()

	~UGmk ()

Public Member Functions inherited from UPosRot
void	clear ()

UPlane	getCamToRobPlane (UPlane plane)
	Convert this plane from camera to robot coordinates. Assumes that this pose is the camera pose relative to the robot. More...

virtual const char *	getDataType ()

double	getKappa ()

UMatrix4	getMtoRMatrix ()

double	getOmega ()

double	getPhi ()

UPosition *	getPos ()

UPosRot *	getPosRot ()

UPlane	getRobToCamPlane (UPlane plane)
	Convert this plane from robot to camera coordinates. Assumes that this pose is the camera pose relative to the robot. More...

URotation *	getRot ()

UMatrix4	getRtoMMatrix ()

double	getTheta ()

double	getX ()

double	getY ()

double	getZ ()

UPosition	pos ()

void	print (const char *prestring)

URotation	rot ()

void	set (UPosition pos, URotation rot)

void	set (double x, double y, double z, double Omega, double Phi, double Kappa)

void	setCtoR (UPosRot camera, UPosRot guidemark, bool mirror)

void	setFromPose (double x, double y, double h)

void	setKappa (double value)

void	setOmega (double value)

void	setPhi (double value)

void	setPos (UPosition pos)

void	setRot (URotation rot)

void	setRtoC (UPosRot camera, UPosRot guidemark)

void	setTheta (double value)

void	setX (double value)

void	setY (double value)

void	setZ (double value)

	UPosRot ()

	~UPosRot ()

Public Member Functions inherited from UPosition
void	add (const UPosition *pos)

void	add (const UPosition pos)

void	add (const double ix, const double iy, const double iz)

UPosition	added (UPosition *pos)

UPosition	added (UPosition pos)

UMatrix4	asCol3 ()

UMatrix4	asCol4 ()

UMatrix4	asMatrix4x4 ()

UMatrix4	asRow3 ()

UMatrix4	asRow4 ()

UMatrix4	asVector3 (bool column)

UMatrix4	asVector4 (bool column)

void	clear (void)

virtual const char *	codeXml (char buf, const int bufCnt, const char extraAttr)

virtual const char *	codeXml (const char name, char buf, const int bufCnt, const char *extraAttr)

int	copy (UMatrix4 *pos)

int	copy (const URotation *rot)

UPosition	cross (UPosition p2)

void	cross (UPosition p1, UPosition p2)

double	dist (const UPosition *pTo)

double	dist (UPosition To)

double	dist ()

double	distSq (const UPosition *pTo)

double	distSq ()

double	distXY ()

double	distXY (UPosition p2)

double	dot (UPosition p2)

double	get (int idx)

UMatrix4	getPixelPos (UMatrix4 A, UMatrix4 b)

UPosition *	getPos ()

UPosition	getTangentPointXY (const UPosition centre, const double radius, const bool rightSide, bool valid, double ang=NULL)

bool	load (const char *valueString)

int	LoadFromReg (Uconfig ini, const char subject, const char *key)

UPosition	operator* (const double scalar)

void	operator*= (const double scalar)

UPosition	operator+ (UPosition pos)

void	operator+= (const UPosition pos)

UPosition	operator- (UPosition pos)

void	operator-= (const UPosition pos)

UPosition	operator= (UMatrix4 vec)

UPosition	operator= (const URotation rot)

UPosition	operator= (const U2Dpos val)

void	print (const char *leadString)

void	println (const char *leadString)

bool	save (FILE fmap, const char key)

int	SaveToReg (Uconfig ini, const char subject, const char *key)

void	scale (const double val)

UPosition	scaled (const double val)

void	set (const double ix, const double iy, const double iz)

void	set (const int idx, const double value)

void	setPos (UPosition fromPos)

void	show (const char *leadString)

virtual void	snprint (const char leadString, char s, const int bufferLength)

void	sprint (char s, const char leadString)

void	subtract (const UPosition *pos)

UPosition	subtracted (UPosition *pos)

UPosition	subtracted (UPosition pos)

int	toUnitVector ()

void	transfer (UMatrix4 *mA)

UPosition	transferred (UMatrix4 *mA)

	UPosition ()

	UPosition (double ix, double iy, double iz)

	UPosition (double ix, double iy)

virtual	~UPosition ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Public Member Functions inherited from URotation
void	add (URotation *rot)

void	add (URotation rot)

void	add (double iOmega, double iPhi, double iKappa)

URotation	added (URotation *rot)

UMatrix4	asMatrix3x3CtoW ()

UMatrix4	asMatrix3x3K ()

UMatrix4	asMatrix3x3Kt ()

UMatrix4	asMatrix3x3MtoR ()

UMatrix4	asMatrix3x3O ()

UMatrix4	asMatrix3x3Ot ()

UMatrix4	asMatrix3x3P ()

UMatrix4	asMatrix3x3Pt ()

UMatrix4	asMatrix3x3RtoM ()

UMatrix4	asMatrix3x3WtoC ()

UMatrix4	asMatrix4x4CtoW ()

UMatrix4	asMatrix4x4CtoW (UPosition *pos)

UMatrix4	asMatrix4x4MtoR ()

UMatrix4	asMatrix4x4MtoR (UPosition *pos)

UMatrix4	asMatrix4x4MtoR (UPosition pos)

UMatrix4	asMatrix4x4RtoM ()

UMatrix4	asMatrix4x4RtoM (UPosition *pos)

UMatrix4	asMatrix4x4RtoM (UPosition pos)

UMatrix4	asMatrix4x4WtoC ()

UMatrix4	asMatrix4x4WtoC (UPosition *pos)

UMatrix4	asUnitZVector3CtoW ()

UMatrix4	asUnitZVector4CtoW ()

UMatrix4	asVector3 ()

UMatrix4	asVector4 ()

void	clear (void)

virtual const char *	codeXml (char buff, const int buffCnt, const char extra)

virtual const char *	codeXml (const char name, char buff, const int buffCnt, const char *extra)

int	copy (UMatrix4 *rot)

int	copy (UPosition *pos)

URotation *	getRot ()

void	LimitToPi ()

void	limitToPi ()

bool	load (const char *valueString)

int	LoadFromReg (Uconfig ini, const char subject, const char *key)

URotation	operator* (double val)

void	operator*= (double val)

URotation	operator+ (URotation rot)

void	operator+= (URotation rot)

URotation	operator- (URotation rot)

void	operator-= (URotation rot)

URotation	operator= (UMatrix4 vec)

URotation	operator= (UPosition pos)

void	print (const char *leadString)

bool	save (FILE fmap, const char key)

int	SaveToReg (Uconfig ini, const char subject, const char *key)

void	scale (double val)

URotation	scaled (double val)

void	set (double iOmega, double iPhi, double iKappa)

void	setFromYZ (UPosition posY, UPosition posZ)

void	setRot (URotation rot)

void	show (const char *leadString)

void	snprint (const char leadString, bool inDegree, char s, const int bufferLength)

void	sprint (char s, const char leadString, bool inDegree=true)

void	subtract (URotation *rot)

URotation	subtracted (URotation *rot)

	URotation ()

	URotation (double iOmega, double iPhi, double iKappa)

virtual	~URotation ()

Static Public Member Functions
static unsigned long	getCodeInt (const char newCode, bool okCrc=NULL)

Static Public Member Functions inherited from UPosition
static UPosition	position (double ix, double iy, double iz)

Static Public Attributes
static const int	MAX_CODE_LENGTH = 30

Protected Attributes
char	code [MAX_CODE_LENGTH]

unsigned long	codeInt

bool	crcOK

UTime	time

bool	valid

bool	validPos

Additional Inherited Members
Public Attributes inherited from UPosition
double	x

double	y

double	z

Public Attributes inherited from URotation
double	Kappa

double	Omega

double	Phi

Detailed Description

Holds information of a guidemark

Author: Christian Andersen

Constructor & Destructor Documentation

UGmk::UGmk ( )

Constructor

References clear(), code, and codeInt.

UGmk::~UGmk ( )

Destructor

Member Function Documentation

void UGmk::clear ( void )

Clear guidemark

References crcOK, valid, and validPos.

Referenced by UBarcode::clear(), and UGmk().

const char* UGmk::getCode ( )

inline

Get long code string

References code, UPosRot::pos(), and UPosRot::rot().

Referenced by UFunctionCamGmk::handleGmkGetCommand(), and UFunctionCamGmk::sendGmk().

unsigned long UGmk::getCodeInt	(	const char *	newCode,
		bool *	okCrc = `NULL`
	)

static

Convert a string code to a long unsigned integer.

Parameters

newCode	is a string with the values of the 4-bit codes - up to max length of square code block
okCrc	is set to true, if the 8-bit code CRC is validated successfut

Returns: the gmk code as a signed long integer (no test for overflow), if crc fails, then the value includes the full code (to be compatible with old function)

References getCRC(), hex2int(), and mini().

Referenced by UFunctionCamGmk::handleGmkGetCommand(), UResCamIfGmk::newDataAvailable(), UNavPaint::paintGmks(), UFunctionCamGmk::sendGmk(), and UResCamIfGmk::snprint().

unsigned long UGmk::getCodeInt ( )

inline

Get the integer (unsigned long) code value

References codeInt.

Referenced by set(), and setTime().

UTime UGmk::getTime ( )

inline

Get gmk time

References time.

Referenced by UClientFuncGmk::handleGmkGet(), UResCamIfGmk::newDataAvailable(), UFunctionCamGmk::sendGmk(), and UResCamIfGmk::snprint().