[mrpt-core]

Detailed Description

Core functions for MRPT.

Back to list of all libraries | See all modules

Library `mrpt-core`

[New in MRPT 2.0.0]

This library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-core-dev

See: Using MRPT from your CMake project

Nested exceptions

See: core_exceptions_example/test.cpp

#include <mrpt/core/exceptions.h>
#include <iostream>

void test_except_3rd_lvl()
{
    MRPT_START
    THROW_EXCEPTION("Aw!");
    MRPT_END
}

void test_except_2nd_lvl()
{
    MRPT_START
    test_except_3rd_lvl();
    MRPT_END
}

void test_except_toplevel()
{
    MRPT_START
    test_except_2nd_lvl();
    MRPT_END
}

int main()
{
    try
    {
        test_except_toplevel();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << mrpt::exception_to_str(e);
        return -1;
    }
}

Output:

==== MRPT exception ====
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:20: [void test_except_3rd_lvl()] Aw!
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:21: [void test_except_3rd_lvl()] Called from here.
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:28: [void test_except_2nd_lvl()] Called from here.
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:35: [void test_except_toplevel()] Called from here.

Collaboration diagram for [mrpt-core]:

Classes
class	mrpt::Clock
	Clock that is compatible with MRPT TTimeStamp representation. More...
class	mrpt::cpu::internal::CPU_analyzer
	Auxiliary class. More...
class	mrpt::LockHelper< T >
	Auxiliary helper structure for mrpt::lockHelper() More...
struct	mrpt::safe_ptr_basic< T >
	A wrapper class for pointers that can be safely copied with "=" operator without problems. More...
struct	mrpt::safe_ptr< T >
	A wrapper class for pointers that can be safely copied with "=" operator without problems. More...
struct	mrpt::non_copiable_ptr_basic< T >
	A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...
struct	mrpt::non_copiable_ptr< T >
	A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...
struct	mrpt::ignored_copy_ptr< T >
	A wrapper class for pointers whose copy operations from other objects of the same type are ignored, that is, doing "a=b;" has no effect neiter on "a" or "b". More...
struct	mrpt::copiable_NULL_ptr_basic< T >
	A wrapper class for pointers that, if copied with the "=" operator, should be set to nullptr in the copy. More...
struct	mrpt::copiable_NULL_ptr< T >
	A wrapper class for pointers that, if copied with the "=" operator, should be set to nullptr in the new copy. More...

Modules
	Funtions in #include <mrpt/core/bits_math.h>
	Templates to declare integers by byte count (in
	#include <mrpt/core/integer_select.h>)
	Round functions (in #include <mrpt/core/round.h>)

Typedefs
template<class T >
using	mrpt::optional_ref = std::optional< std::reference_wrapper< T > >
	Shorter name for std::optional<std::reference_wrapper<T>> More...

Enumerations
enum	mrpt::cpu::feature : unsigned int {   mrpt::cpu::feature::MMX = 0, mrpt::cpu::feature::POPCNT, mrpt::cpu::feature::SSE, mrpt::cpu::feature::SSE2,   mrpt::cpu::feature::SSE3, mrpt::cpu::feature::SSSE3, mrpt::cpu::feature::SSE4_1, mrpt::cpu::feature::SSE4_2,   mrpt::cpu::feature::AVX, mrpt::cpu::feature::AVX2, mrpt::cpu::feature::FEATURE_COUNT }
	OS-portable set of CPU feature definitions, for usage in mrpt::cpu::supports. More...

Functions
template<class VECTOR_T >
void	mrpt::vector_strong_clear (VECTOR_T &v)
	Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory. More...
bool	mrpt::cpu::supports (feature f) noexcept
	Returns true if the current CPU (and OS) supports the given CPU feature. More...
void	mrpt::cpu::overrideDetectedFeature (feature f, bool newValue) noexcept
	Blindly enables/disables a CPU feature flag in the list of detected features to be reported in subsequent calls to mrpt::cpu::supports(). More...
std::string	mrpt::cpu::features_as_string () noexcept
	Returns a string with detected features: "MMX:1 SSE2:0 etc.". More...
std::string	mrpt::exception_to_str (const std::exception &e)
	Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THROW_EXCEPTION,...) in between MRPT_START/MRPT_END macros, will contain function names and line numbers across the call stack at the original throw point. More...
std::string	mrpt::format_impl (const char *fmt,...) MRPT_printf_format_check(1
	A std::string version of C sprintf. More...
template<typename T >
std::string	mrpt::to_string (T v)
	Just like std::to_string(), but with an overloaded version for std::string arguments. More...
template<typename T >
T	mrpt::from_string (const std::string &s, const T &defValue=T{}, bool throw_on_error=true)
	Converts from string to any data type that supports reading (>>) from a text stream. More...
template<class T >
T	mrpt::get_env (const std::string &varname, const T &defValue=T())
	Reads an environment variable, with a default value if not present. More...
template<class T >
LockHelper< T >	mrpt::lockHelper (T &t)
	Syntactic sugar to easily create a locker to any kind of std::mutex. More...
void	mrpt::reverseBytesInPlace (bool &v_in_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...
void	mrpt::reverseBytesInPlace (uint8_t &v_in_out)
void	mrpt::reverseBytesInPlace (int8_t &v_in_out)
void	mrpt::reverseBytesInPlace (uint16_t &v_in_out)
void	mrpt::reverseBytesInPlace (int16_t &v_in_out)
void	mrpt::reverseBytesInPlace (uint32_t &v_in_out)
void	mrpt::reverseBytesInPlace (int32_t &v_in_out)
void	mrpt::reverseBytesInPlace (uint64_t &v_in_out)
void	mrpt::reverseBytesInPlace (int64_t &v_in_out)
void	mrpt::reverseBytesInPlace (float &v_in_out)
void	mrpt::reverseBytesInPlace (double &v_in_out)
void	mrpt::reverseBytesInPlace (long double &v_in_out)
void	mrpt::reverseBytesInPlace (std::chrono::time_point< mrpt::Clock > &v_in_out)
template<class T >
void	mrpt::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<class T >
T	mrpt::reverseBytes (const T &v_in)
template<class T >
T	mrpt::toNativeEndianness (const T &v_in)
template<typename enum_t , typename underlying_t = typename std::underlying_type<enum_t>::type>
void	mrpt::reverseBytesInPlace_enum (enum_t &v)

Typedef Documentation

optional_ref

template<class T >

using mrpt::optional_ref = typedef std::optional<std::reference_wrapper<T> >

Shorter name for std::optional<std::reference_wrapper<T>>

Definition at line 20 of file optional_ref.h.

Enumeration Type Documentation

feature

enum mrpt::cpu::feature : unsigned int

strong

OS-portable set of CPU feature definitions, for usage in mrpt::cpu::supports.

Enumerator
MMX
POPCNT
SSE
SSE2
SSE3
SSSE3
SSE4_1
SSE4_2
AVX
AVX2
FEATURE_COUNT

Definition at line 21 of file cpu.h.

Function Documentation

exception_to_str()

std::string mrpt::exception_to_str

(

const std::exception &

e

)

Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THROW_EXCEPTION,...) in between MRPT_START/MRPT_END macros, will contain function names and line numbers across the call stack at the original throw point.

See example of use in [mrpt-core] Uses C++11 throw_with_nested(), rethrow_if_nested().

Examples:

comms_http_client/test.cpp, core_exceptions_example/test.cpp, rtti_example1/test.cpp, serialization_json_example/test.cpp, and serialization_stl/test.cpp.

Definition at line 59 of file exceptions.cpp.

References mrpt::internal::impl_excep_to_str().

Referenced by catch(), mrpt::gui::CDisplayWindowGUI::drawContents(), mrpt::gui::MRPT2NanoguiGLCanvas::drawGL(), generic_icp_slam_test(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::obs::CRawlog::getActionObservationPair(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::obs::CRawlog::readActionObservationPair(), mrpt::gui::CGlCanvasBase::renderCanvas(), mrpt::obs::CRawlog::saveToRawLogFile(), mrpt::apps::RawlogGrabberApp::SensorThread(), mrpt::apps::ICP_SLAM_App_Live::SensorThread(), TEST(), mrpt::comms::CClientTCPSocket::~CClientTCPSocket(), mrpt::config::CConfigFile::~CConfigFile(), mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG(), mrpt::system::CObservable::~CObservable(), mrpt::opengl::CRenderizableShaderTexturedTriangles::~CRenderizableShaderTexturedTriangles(), mrpt::comms::CSerialPort::~CSerialPort(), mrpt::system::CTimeLoggerEntry::~CTimeLoggerEntry(), mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor(), and ModulesRegistry::~ModulesRegistry().

Here is the call graph for this function:

Here is the caller graph for this function:

features_as_string()

std::string mrpt::cpu::features_as_string ( )

noexcept

Returns a string with detected features: "MMX:1 SSE2:0 etc.".

Definition at line 95 of file cpu.cpp.

References mrpt::cpu::AVX, mrpt::cpu::AVX2, mrpt::format(), mrpt::cpu::internal::CPU_analyzer::Instance(), mrpt::cpu::MMX, mrpt::cpu::POPCNT, mrpt::cpu::SSE, mrpt::cpu::SSE2, mrpt::cpu::SSE3, mrpt::cpu::SSE4_1, mrpt::cpu::SSE4_2, and mrpt::cpu::SSSE3.

Referenced by TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

format_impl()

std::string mrpt::format_impl	(	const char *	fmt,
			...
	)

A std::string version of C sprintf.

You can call this to obtain a std::string using printf-like syntax.

Definition at line 16 of file format.cpp.

References mrpt::system::os::vsnprintf().

Referenced by mrpt::format().

Here is the call graph for this function:

Here is the caller graph for this function:

from_string()

template<typename T >

T mrpt::from_string ( const std::string &  s, const T &  defValue = T{}, bool  throw_on_error = true  )

inline

Converts from string to any data type that supports reading (>>) from a text stream.

In case of error, the given default value is returned, or an exception raised.

Definition at line 32 of file from_string.h.

get_env()

template<class T >

T mrpt::get_env ( const std::string &  varname, const T &  defValue = T()  )

inline

Reads an environment variable, with a default value if not present.

Definition at line 21 of file get_env.h.

lockHelper()

template<class T >

LockHelper<T> mrpt::lockHelper

(

T &

t

)

Syntactic sugar to easily create a locker to any kind of std::mutex.

Definition at line 50 of file lock_helper.h.

Referenced by mrpt::nav::CAbstractNavigator::cancel(), mrpt::slam::CMetricMapBuilderRBPF::clear(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(), mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::slam::CMetricMapBuilderRBPF::initialize(), mrpt::nav::CAbstractPTGBasedReactive::initialize(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::apps::RawlogGrabberApp::process_observations_for_nonsf(), mrpt::apps::RawlogGrabberApp::process_observations_for_sf(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::nav::CAbstractNavigator::resetNavError(), mrpt::nav::CAbstractNavigator::resume(), mrpt::apps::RawlogGrabberApp::runImpl(), mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::suspend(), and TEST().

Here is the caller graph for this function:

overrideDetectedFeature()

void mrpt::cpu::overrideDetectedFeature ( feature  f, bool  newValue  )

inlinenoexcept

Blindly enables/disables a CPU feature flag in the list of detected features to be reported in subsequent calls to mrpt::cpu::supports().

Could be used to disable a given CPU feature for benchmarking dynamically-dispatched functions.

Note

Enabling a feature that is not actually supported by the current CPU would probably lead to program crashes.

Definition at line 91 of file cpu.h.

References mrpt::cpu::internal::CPU_analyzer::Instance().

Here is the call graph for this function:

reverseBytes() [1/2]

template<class T >

void mrpt::reverseBytes ( const T &  v_in, T &  v_out  )

inline

Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)

Definition at line 39 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Referenced by get_binary_item(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

reverseBytes() [2/2]

template<class T >

T mrpt::reverseBytes ( const T &  v_in )

inline

Definition at line 46 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Here is the call graph for this function:

reverseBytesInPlace() [1/13]

void mrpt::reverseBytesInPlace

(

bool &

v_in_out

)

Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)

Definition at line 93 of file reverse_bytes.cpp.

Referenced by mrpt::obs::gnss::nv_oem6_header_t::fixEndianness(), mrpt::obs::gnss::nv_oem6_short_header_t::fixEndianness(), mrpt::obs::gnss::fixEndianness(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::fixEndianness(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), mrpt::reverseBytes(), mrpt::reverseBytesInPlace_enum(), mrpt::img::CCanvas::selectTextFont(), TEST(), and mrpt::toNativeEndianness().

Here is the caller graph for this function:

reverseBytesInPlace() [2/13]

void mrpt::reverseBytesInPlace

(

uint8_t &

v_in_out

)

Definition at line 98 of file reverse_bytes.cpp.

reverseBytesInPlace() [3/13]

void mrpt::reverseBytesInPlace

(

int8_t &

v_in_out

)

Definition at line 102 of file reverse_bytes.cpp.

reverseBytesInPlace() [4/13]

void mrpt::reverseBytesInPlace

(

uint16_t &

v_in_out

)

Definition at line 107 of file reverse_bytes.cpp.

References reverseBytesInPlace_2b().

Here is the call graph for this function:

reverseBytesInPlace() [5/13]

void mrpt::reverseBytesInPlace

(

int16_t &

v_in_out

)

Definition at line 112 of file reverse_bytes.cpp.

References reverseBytesInPlace_2b().

Here is the call graph for this function:

reverseBytesInPlace() [6/13]

void mrpt::reverseBytesInPlace

(

uint32_t &

v_in_out

)

Definition at line 117 of file reverse_bytes.cpp.

References reverseBytesInPlace_4b().

Here is the call graph for this function:

reverseBytesInPlace() [7/13]

void mrpt::reverseBytesInPlace

(

int32_t &

v_in_out

)

Definition at line 122 of file reverse_bytes.cpp.

References reverseBytesInPlace_4b().

Here is the call graph for this function:

reverseBytesInPlace() [8/13]

void mrpt::reverseBytesInPlace

(

uint64_t &

v_in_out

)

Definition at line 127 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b().

Here is the call graph for this function:

reverseBytesInPlace() [9/13]

void mrpt::reverseBytesInPlace

(

int64_t &

v_in_out

)

Definition at line 132 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b().

Here is the call graph for this function:

reverseBytesInPlace() [10/13]

void mrpt::reverseBytesInPlace

(

float &

v_in_out

)

Definition at line 137 of file reverse_bytes.cpp.

References reverseBytesInPlace_4b().

Here is the call graph for this function:

reverseBytesInPlace() [11/13]

void mrpt::reverseBytesInPlace

(

double &

v_in_out

)

Definition at line 142 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b().

Here is the call graph for this function:

reverseBytesInPlace() [12/13]

void mrpt::reverseBytesInPlace

(

long double &

v_in_out

)

reverseBytesInPlace() [13/13]

void mrpt::reverseBytesInPlace

(

std::chrono::time_point< mrpt::Clock > &

v_in_out

)

Definition at line 147 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b(), and val.

Here is the call graph for this function:

reverseBytesInPlace_enum()

template<typename enum_t , typename underlying_t = typename std::underlying_type<enum_t>::type>

void mrpt::reverseBytesInPlace_enum ( enum_t &  v )

inline

Definition at line 68 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Referenced by mrpt::obs::gnss::fixEndianness().

Here is the call graph for this function:

Here is the caller graph for this function:

supports()

bool mrpt::cpu::supports ( feature  f )

inlinenoexcept

Returns true if the current CPU (and OS) supports the given CPU feature.

Definition at line 75 of file cpu.h.

References mrpt::cpu::internal::CPU_analyzer::Instance().

Referenced by my_img_to_grayscale(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::round(), mrpt::round_long(), mrpt::img::CImage::scaleHalf(), mrpt::tfest::se2_l2(), and TEST().

Here is the call graph for this function:

Here is the caller graph for this function:

to_string()

template<typename T >

std::string mrpt::to_string

(

T

v

)

Just like std::to_string(), but with an overloaded version for std::string arguments.

Definition at line 36 of file format.h.

References mrpt::to_string().

Referenced by mrpt::internal::asrt_fail(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::internal::exception_line_msg(), mrpt::vision::CFeatureLines::extractLines(), mrpt::internal::impl_excep_to_str(), mrpt::comms::net::Ping(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::saveAsDot(), mrpt::system::CTimeLogger::saveToCSVFile(), mrpt::system::CTimeLogger::saveToMFile(), mrpt::io::CPipeBaseEndPoint::serialize(), TEST(), mrpt::typemeta::TEnumType< ENUMTYPE >::value2name(), and mrpt::config::CConfigFileBase::write().

Here is the call graph for this function:

Here is the caller graph for this function:

toNativeEndianness()

template<class T >

T mrpt::toNativeEndianness ( const T &  v_in )

inline

Definition at line 54 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Referenced by mrpt::obs::CObservationVelodyneScan::laser_return_t::distance(), mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp(), mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket::gps_timestamp(), mrpt::obs::CObservationVelodyneScan::raw_block_t::header(), mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation(), and mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket::unused2().

Here is the call graph for this function:

Here is the caller graph for this function:

vector_strong_clear()

template<class VECTOR_T >

void mrpt::vector_strong_clear ( VECTOR_T &  v )

inline

Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory.

Definition at line 18 of file bits_mem.h.

Referenced by mrpt::maps::CSimplePointsMap::internal_clear(), mrpt::maps::CWeightedPointsMap::internal_clear(), mrpt::maps::CPointsMapXYZI::internal_clear(), mrpt::maps::CColouredPointsMap::internal_clear(), mrpt::obs::CObservation3DRangeScan::points3D_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors(), and mrpt::obs::CObservation3DRangeScan::unload().

Here is the caller graph for this function: