Main MRPT website > C++ reference for MRPT 1.5.7
Classes | Namespaces | Macros | Functions
bits.h File Reference
#include <mrpt/config.h>
#include <cmath>
#include <string>
#include <mrpt/base/link_pragmas.h>
#include <mrpt/utils/mrpt_macros.h>
#include <mrpt/utils/mrpt_stdint.h>
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Classes

struct  mrpt::utils::CProfilerProxy
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::math
 This base provides a set of functions for maths stuff.
 
 mrpt::utils
 Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
 

Macros

#define _USE_MATH_DEFINES
 
#define M_PI   3.14159265358979323846
 
#define DEG2RAD   DEG2RAD
 
#define RAD2DEG   RAD2DEG
 
#define SELBYTE0(v)   (v & 0xff)
 
#define SELBYTE1(v)   ((v>>8) & 0xff)
 
#define SELBYTE2(v)   ((v>>16) & 0xff)
 
#define SELBYTE3(v)   ((v>>24) & 0xff)
 
#define MAKEWORD16B(__LOBYTE, __HILOBYTE)   ((__LOBYTE) | ((__HILOBYTE)<<8))
 
#define MAKEWORD32B(__LOWORD16, __HIWORD16)   ((__LOWORD16) | ((__HIWORD16)<<16))
 
#define MAKEWORD64B(__LOWORD32, __HIWORD32)   ((__LOWORD32) | ((__HIWORD32)<<32))
 
#define _USE_MATH_DEFINES
 
#define DEG2RAD   DEG2RAD
 
#define RAD2DEG   RAD2DEG
 
#define SELBYTE0(v)   (v & 0xff)
 
#define SELBYTE1(v)   ((v>>8) & 0xff)
 
#define SELBYTE2(v)   ((v>>16) & 0xff)
 
#define SELBYTE3(v)   ((v>>24) & 0xff)
 
#define MAKEWORD16B(__LOBYTE, __HILOBYTE)   ((__LOBYTE) | ((__HILOBYTE)<<8))
 
#define MAKEWORD32B(__LOWORD16, __HIWORD16)   ((__LOWORD16) | ((__HIWORD16)<<16))
 
#define MAKEWORD64B(__LOWORD32, __HIWORD32)   ((__LOWORD32) | ((__HIWORD32)<<32))
 

Functions

std::string BASE_IMPEXP mrpt::format (const char *fmt,...) MRPT_printf_format_check(1
 A std::string version of C sprintf. More...
 
bool BASE_IMPEXP mrpt::math::isNaN (float f) MRPT_NO_THROWS
 Returns true if the number is NaN. More...
 
bool BASE_IMPEXP mrpt::math::isNaN (double f) MRPT_NO_THROWS
 Returns true if the number is NaN. More...
 
bool BASE_IMPEXP mrpt::math::isFinite (float f) MRPT_NO_THROWS
 Returns true if the number is non infinity. More...
 
bool BASE_IMPEXP mrpt::math::isFinite (double f) MRPT_NO_THROWS
 Returns true if the number is non infinity. More...
 
template<class MATRIXLIKE >
size_t mrpt::math::size (const MATRIXLIKE &m, const int dim)
 
template<class T >
mrpt::math::square (const T x)
 Inline function for the square of a number. More...
 
template<class T >
mrpt::math::hypot_fast (const T x, const T y)
 Faster version of std::hypot(), to use when overflow is not an issue and we prefer fast code. More...
 
double mrpt::utils::DEG2RAD (const double x)
 Degrees to radians. More...
 
float mrpt::utils::DEG2RAD (const float x)
 Degrees to radians. More...
 
float mrpt::utils::DEG2RAD (const int x)
 Degrees to radians. More...
 
double mrpt::utils::RAD2DEG (const double x)
 Radians to degrees. More...
 
float mrpt::utils::RAD2DEG (const float x)
 Radians to degrees. More...
 
template<typename T >
int mrpt::utils::sign (T x)
 Returns the sign of X as "1" or "-1". More...
 
template<typename T >
int mrpt::utils::signWithZero (T x)
 Returns the sign of X as "0", "1" or "-1". More...
 
template<typename T >
mrpt::utils::lowestPositive (const T a, const T b)
 Returns the lowest, possitive among two numbers. More...
 
template<typename T >
mrpt::utils::abs_diff (const T a, const T b)
 Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types) More...
 
template<typename T >
const T mrpt::utils::min3 (const T &A, const T &B, const T &C)
 
template<typename T >
const T mrpt::utils::max3 (const T &A, const T &B, const T &C)
 
template<typename T >
int mrpt::utils::fix (T x)
 Rounds toward zero. More...
 
template<class R , class SMART_PTR >
Rmrpt::utils::getAs (SMART_PTR &o)
 < Allow square() to be available under mrpt::math and mrpt::utils More...
 
template<class R , class SMART_PTR >
const Rmrpt::utils::getAs (const SMART_PTR &o)
 Utility to get a cast'ed pointer from a smart pointer. More...
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (bool &v_in_out)
 Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (uint8_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (int8_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (uint16_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (int16_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (uint32_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (int32_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (uint64_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (int64_t &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (float &v_in_out)
 
void BASE_IMPEXP mrpt::utils::reverseBytesInPlace (double &v_in_out)
 
template<class T >
void mrpt::utils::reverseBytes (const T &v_in, T &v_out)
 Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...
 
template<typename T , typename K >
void mrpt::utils::keep_min (T &var, const K test_val)
 If the second argument is below the first one, set the first argument to this lower value. More...
 
template<typename T , typename K >
void mrpt::utils::keep_max (T &var, const K test_val)
 If the second argument is above the first one, set the first argument to this higher value. More...
 
template<typename T >
void mrpt::utils::saturate (T &var, const T sat_min, const T sat_max)
 Saturate the value of var (the variable gets modified) so it does not get out of [min,max]. More...
 
template<typename T >
mrpt::utils::saturate_val (const T &value, const T sat_min, const T sat_max)
 Like saturate() but it returns the value instead of modifying the variable. More...
 
template<class T >
void mrpt::utils::delete_safe (T *&ptr)
 Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL. More...
 
template<class VECTOR_T >
void mrpt::utils::vector_strong_clear (VECTOR_T &v)
 Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory. More...
 
template<typename T >
mrpt::utils::length2length4N (T len)
 Returns the smaller number >=len such that it's a multiple of 4. More...
 
Auxiliary stuff for the global profiler used in MRPT_START / MRPT_END macros.
void BASE_IMPEXP mrpt::utils::global_profiler_enter (const char *func_name) MRPT_NO_THROWS
 
void BASE_IMPEXP mrpt::utils::global_profiler_leave (const char *func_name) MRPT_NO_THROWS
 

Macro Definition Documentation

#define _USE_MATH_DEFINES

Definition at line 15 of file maps/CColouredPointsMap.h.

#define _USE_MATH_DEFINES
#define DEG2RAD   DEG2RAD

Definition at line 99 of file maps/CColouredPointsMap.h.

Referenced by addBar_A(), ICPTests::align2scans(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::alignOpticalWithMRPTFrame(), mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::opengl::CFrustum::CFrustum(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), SE_traits_tests< POSE_TYPE >::do_all_jacobs_test(), mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::topography::ENU_axes_from_WGS84(), mrpt::poses::CPose2D::fromString(), mrpt::math::TPose2D::fromString(), mrpt::poses::CPose3D::fromString(), mrpt::math::TPose3D::fromString(), mrpt::math::TTwist2D::fromString(), mrpt::math::TTwist3D::fromString(), ICPTests::generateObjects(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::topography::geocentricToENU_WGS84(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::GeodeticToUTM(), mrpt::topography::geodeticToUTM(), mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::CIMUXSens_MT4::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSkeletonTracker::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIMUIntersense::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific(), mrpt::hwdrivers::CIbeoLuxETH::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), mrpt::hwdrivers::CLMS100Eth::loadConfig_sensorSpecific(), mrpt::hwdrivers::CVelodyneScanner::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2_RGBD360::loadConfig_sensorSpecific(), mrpt::hwdrivers::COpenNI2Sensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific(), mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific(), mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::hwdrivers::CTuMicos::lowerSpeedQ(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mrpt::slam::CRangeBearingKFSLAM2D::OnPreComputingPredictions(), mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), mrpt::hwdrivers::CTuMicos::radQuerry(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::vision::relocalizeMultiDesc(), mrpt::opengl::COpenGLViewport::render(), mrpt::hwdrivers::CPtuDPerception::resolution(), mrpt::hwdrivers::CNTRIPClient::retrieveListOfMountpoints(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), run_test_pf_localization(), mrpt::tfest::se2_l2_robust(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), TEST(), TEST_F(), mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TMotionModelOptions(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TMotionModelOptions(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions(), mrpt::hmtslam::CHMTSLAM::TOptions::TOptions(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals(), and mrpt::hwdrivers::CTuMicos::upperSpeedQ().

#define DEG2RAD   DEG2RAD
#define M_PI   3.14159265358979323846

Definition at line 78 of file bits.h.

Referenced by mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::math::angDistance(), mrpt::hwdrivers::CServoeNeck::angle2RegValue(), mrpt::math::averageWrap2Pi(), mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::math::CRuntimeCompiledExpression::compile(), mrpt::maps::COccupancyGridMap2D::computeClearance(), mrpt::vision::computeMainOrientations(), mrpt::hwdrivers::CIbeoLuxETH::convertTicksToHRad(), mrpt::hwdrivers::CIbeoLuxETH::convertToCartesian(), mrpt::math::covariancesAndMeanWeighted(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), mrpt::opengl::CPolyhedron::CreateCupola(), mrpt::opengl::CPolyhedron::CreateIcosahedron(), mrpt::opengl::CPolyhedron::CreateJohnsonSolidWithConstantBase(), mrpt::math::TPolygon2D::createRegularPolygon(), mrpt::math::TPolygon3D::createRegularPolygon(), mrpt::opengl::CPolyhedron::CreateRhombicuboctahedron(), mrpt::opengl::CPolyhedron::CreateTrapezohedron(), mrpt::utils::DEG2RAD(), mrpt::nav::CHolonomicFullEval::direction2sector(), mrpt::nav::CHolonomicND::direction2sector(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::opengl::detail::generalizedEllipsoidPoints< 2 >(), mrpt::opengl::detail::generalizedEllipsoidPoints< 3 >(), mrpt::opengl::CPolyhedron::generateBase(), mrpt::opengl::CPolyhedron::generateShiftedBase(), mrpt::math::getAngle(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), insertCupola(), insertRotunda(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(), mrpt::poses::CPose3D::isHorizontal(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CPTG_DiffDrive_CC::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_CCS::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_C::ptgDiffDriveSteeringFunction(), mrpt::utils::RAD2DEG(), ransac_data_assoc_run(), mrpt::hwdrivers::CServoeNeck::regValue2angle(), mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::hwdrivers::CServoeNeck::setAngle(), mrpt::hwdrivers::CServoeNeck::setAngleAndSpeed(), mrpt::vision::CDifodo::setFOV(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), mrpt::math::spline(), TEST(), TEST_F(), mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput::TPlannerInput(), mrpt::hwdrivers::CHokuyoURG::turnOn(), mrpt::math::unwrap2PiSequence(), velodyne_scan_to_pointcloud(), mrpt::math::wrapTo2PiInPlace(), and mrpt::math::wrapToPi().

#define MAKEWORD16B (   __LOBYTE,
  __HILOBYTE 
)    ((__LOBYTE) | ((__HILOBYTE)<<8))
#define MAKEWORD16B (   __LOBYTE,
  __HILOBYTE 
)    ((__LOBYTE) | ((__HILOBYTE)<<8))
#define MAKEWORD32B (   __LOWORD16,
  __HIWORD16 
)    ((__LOWORD16) | ((__HIWORD16)<<16))

Definition at line 220 of file maps/CColouredPointsMap.h.

#define MAKEWORD32B (   __LOWORD16,
  __HIWORD16 
)    ((__LOWORD16) | ((__HIWORD16)<<16))
#define MAKEWORD64B (   __LOWORD32,
  __HIWORD32 
)    ((__LOWORD32) | ((__HIWORD32)<<32))

Definition at line 221 of file maps/CColouredPointsMap.h.

#define MAKEWORD64B (   __LOWORD32,
  __HIWORD32 
)    ((__LOWORD32) | ((__HIWORD32)<<32))
#define RAD2DEG   RAD2DEG

Definition at line 100 of file maps/CColouredPointsMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::poses::CPose3D::asString(), mrpt::math::TPose3D::asString(), mrpt::obs::CObservationBearingRange::debugPrintOut(), mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::topography::geocentricToGeodetic(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::getAsString(), mrpt::nav::CPTG_DiffDrive_alpha::getDescription(), mrpt::obs::CObservationRange::getDescriptionAsText(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::obs::CObservationIMU::getDescriptionAsText(), mrpt::obs::CObservation2DRangeScan::getDescriptionAsText(), mrpt::hwdrivers::CPtuDPerception::init(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mrpt::hwdrivers::CTuMicos::moveToAbsPos(), mrpt::hwdrivers::CTuMicos::moveToOffPos(), mrpt::poses::operator<<(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::hwdrivers::CTuMicos::radAsign(), mrpt::hwdrivers::CNTRIPClient::retrieveListOfMountpoints(), mrpt::hwdrivers::CServoeNeck::setAngle(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TMotionModelOptions(), mrpt::hwdrivers::CHokuyoURG::turnOn(), and mrpt::topography::UTMToGeodetic().

#define RAD2DEG   RAD2DEG
#define SELBYTE0 (   v)    (v & 0xff)

Definition at line 214 of file maps/CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

#define SELBYTE0 (   v)    (v & 0xff)
#define SELBYTE1 (   v)    ((v>>8) & 0xff)
#define SELBYTE1 (   v)    ((v>>8) & 0xff)

Definition at line 215 of file maps/CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

#define SELBYTE2 (   v)    ((v>>16) & 0xff)

Definition at line 216 of file maps/CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

#define SELBYTE2 (   v)    ((v>>16) & 0xff)
#define SELBYTE3 (   v)    ((v>>24) & 0xff)

Definition at line 217 of file maps/CColouredPointsMap.h.

Referenced by mrpt::utils::reduced_hash().

#define SELBYTE3 (   v)    ((v>>24) & 0xff)



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