#include "wb_pixel_to_robot_relative_coord.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <ctype.h>
#include <limits.h>

Include dependency graph for wb_pixel_to_robot_relative_coord.c:

Macros
#define	htonll(x) bswap_64(x)

#define	ntohll(x) bswap_64(x)

#define	htonl(x) bswap_32(x)

#define	ntohl(x) bswap_32(x)

#define	htons(x) bswap_16(x)

#define	ntohs(x) bswap_16(x)

Functions
void	pixel_to_rr_coord (int32_t sx, int32_t sy, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, double distance, double angle)

void	pixel_to_rr_coord_legs (int32_t sx, int32_t sy, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, struct wb_sensors_legjointsensors leg_sensors, double distance, double *angle)

void	pixel_to_rr_coord_legs_no_conv (int32_t sx, int32_t sy, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, struct wb_sensors_legjointsensors leg_sensors, double distance, double *angle)

void	pixel_to_rr_coord_no_conv (int32_t sx, int32_t sy, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, double distance, double angle)

void	pixel_to_rr_coord_kneeling (int32_t sx, int32_t sy, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, double distance, double angle, bool kneeling)

void	pixel_to_rr_coord_kneeling_conv (int32_t sx, int32_t sy, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, double distance, double angle, bool kneeling, bool conv)

void	rr_to_pixel_coord (double angle, double distance, enum VisionCamera camera, struct wb_vision_control_status vs, struct wb_sensors_torsojointsensors joints, int32_t sx, int32_t sy, bool kneeling)

double	get_camera_height (enum VisionCamera camera, struct wb_sensors_torsojointsensors *joints, bool kneeling)

const char *	wb_pixel_to_robot_relative_coord_description (const struct wb_pixel_to_robot_relative_coord self, char descString, size_t bufferSize)
	Convert to a description string. More...

const char *	wb_pixel_to_robot_relative_coord_to_string (const struct wb_pixel_to_robot_relative_coord self, char toString, size_t bufferSize)
	Convert to a string. More...

struct wb_pixel_to_robot_relative_coord *	wb_pixel_to_robot_relative_coord_from_string (struct wb_pixel_to_robot_relative_coord self, const char str)
	Convert from a string. More...

size_t	wb_pixel_to_robot_relative_coord_to_network_serialised (const struct wb_pixel_to_robot_relative_coord self, char dst)
	Convert to a compressed, serialised, network byte order byte stream. More...

size_t	wb_pixel_to_robot_relative_coord_from_network_serialised (const char src, struct wb_pixel_to_robot_relative_coord dst)
	Convert from a compressed, serialised, network byte order byte stream. More...

Macro Definition Documentation

◆ htonl

#define htonl ( x ) bswap_32(x)

Definition at line 97 of file wb_pixel_to_robot_relative_coord.c.

◆ htonll

#define htonll ( x ) bswap_64(x)

Definition at line 93 of file wb_pixel_to_robot_relative_coord.c.

◆ htons

#define htons ( x ) bswap_16(x)

Definition at line 101 of file wb_pixel_to_robot_relative_coord.c.

◆ ntohl

#define ntohl ( x ) bswap_32(x)

Definition at line 98 of file wb_pixel_to_robot_relative_coord.c.

◆ ntohll

#define ntohll ( x ) bswap_64(x)

Definition at line 94 of file wb_pixel_to_robot_relative_coord.c.

◆ ntohs

#define ntohs ( x ) bswap_16(x)

Definition at line 102 of file wb_pixel_to_robot_relative_coord.c.

Function Documentation

◆ get_camera_height()

double get_camera_height	(	enum VisionCamera	camera,
		struct wb_sensors_torsojointsensors *	joints,
		bool	kneeling
	)

Definition at line 207 of file wb_pixel_to_robot_relative_coord.c.

References BOTTOM_CAMERA_OFFSET_X, BOTTOM_CAMERA_OFFSET_Z, HEAD_BASE_HEIGHT, HEAD_BASE_HEIGHT_KNEELING, wb_sensors_torsojointsensors::HeadPitch, TOP_CAMERA_OFFSET_X, and TOP_CAMERA_OFFSET_Z.

Referenced by pixel_to_rr_coord_kneeling_conv(), and rr_to_pixel_coord().

◆ pixel_to_rr_coord()

void pixel_to_rr_coord	(	int32_t	sx,
		int32_t	sy,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		double *	distance,
		double *	angle
	)

Definition at line 127 of file wb_pixel_to_robot_relative_coord.c.

References pixel_to_rr_coord_kneeling().

◆ pixel_to_rr_coord_kneeling()

void pixel_to_rr_coord_kneeling	(	int32_t	sx,
		int32_t	sy,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		double *	distance,
		double *	angle,
		bool	kneeling
	)

Definition at line 143 of file wb_pixel_to_robot_relative_coord.c.

References pixel_to_rr_coord_kneeling_conv().

Referenced by pixel_to_rr_coord(), and pixel_to_rr_coord_legs().

◆ pixel_to_rr_coord_kneeling_conv()

void pixel_to_rr_coord_kneeling_conv	(	int32_t	sx,
		int32_t	sy,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		double *	distance,
		double *	angle,
		bool	kneeling,
		bool	conv
	)

Definition at line 147 of file wb_pixel_to_robot_relative_coord.c.

References BOTTOM_CAMERA_ANGLE, CAMERA_HFOV, CAMERA_VFOV, CONV_TO_IMG, get_camera_height(), wb_sensors_torsojointsensors::HeadPitch, wb_sensors_torsojointsensors::HeadYaw, and TOP_CAMERA_ANGLE.

Referenced by pixel_to_rr_coord_kneeling(), pixel_to_rr_coord_legs_no_conv(), and pixel_to_rr_coord_no_conv().

◆ pixel_to_rr_coord_legs()

void pixel_to_rr_coord_legs	(	int32_t	sx,
		int32_t	sy,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		struct wb_sensors_legjointsensors *	leg_sensors,
		double *	distance,
		double *	angle
	)

Definition at line 131 of file wb_pixel_to_robot_relative_coord.c.

References wb_sensors_legjointsensors::LKneePitch, pixel_to_rr_coord_kneeling(), and wb_sensors_legjointsensors::RKneePitch.

◆ pixel_to_rr_coord_legs_no_conv()

void pixel_to_rr_coord_legs_no_conv	(	int32_t	sx,
		int32_t	sy,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		struct wb_sensors_legjointsensors *	leg_sensors,
		double *	distance,
		double *	angle
	)

Definition at line 135 of file wb_pixel_to_robot_relative_coord.c.

References wb_sensors_legjointsensors::LKneePitch, pixel_to_rr_coord_kneeling_conv(), and wb_sensors_legjointsensors::RKneePitch.

◆ pixel_to_rr_coord_no_conv()

void pixel_to_rr_coord_no_conv	(	int32_t	sx,
		int32_t	sy,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		double *	distance,
		double *	angle
	)

Definition at line 139 of file wb_pixel_to_robot_relative_coord.c.

References pixel_to_rr_coord_kneeling_conv().

◆ rr_to_pixel_coord()

void rr_to_pixel_coord	(	double	angle,
		double	distance,
		enum VisionCamera	camera,
		struct wb_vision_control_status *	vs,
		struct wb_sensors_torsojointsensors *	joints,
		int32_t *	sx,
		int32_t *	sy,
		bool	kneeling
	)

Definition at line 184 of file wb_pixel_to_robot_relative_coord.c.

References BOTTOM_CAMERA_ANGLE, CAMERA_HFOV, CAMERA_VFOV, get_camera_height(), wb_sensors_torsojointsensors::HeadPitch, wb_sensors_torsojointsensors::HeadYaw, and TOP_CAMERA_ANGLE.

◆ wb_pixel_to_robot_relative_coord_description()

const char * wb_pixel_to_robot_relative_coord_description	(	const struct wb_pixel_to_robot_relative_coord *	self,
		char *	descString,
		size_t	bufferSize
	)

Convert to a description string.

Definition at line 225 of file wb_pixel_to_robot_relative_coord.c.

Referenced by guWhiteboard::PixelToRobotRelativeCoord::description().

◆ wb_pixel_to_robot_relative_coord_from_network_serialised()

size_t wb_pixel_to_robot_relative_coord_from_network_serialised	(	const char *	src,
		struct wb_pixel_to_robot_relative_coord *	dst
	)

Convert from a compressed, serialised, network byte order byte stream.

Network stream deserialisation.

Definition at line 378 of file wb_pixel_to_robot_relative_coord.c.

References wb_pixel_to_robot_relative_coord::i, and ntohl.

◆ wb_pixel_to_robot_relative_coord_from_string()

struct wb_pixel_to_robot_relative_coord * wb_pixel_to_robot_relative_coord_from_string	(	struct wb_pixel_to_robot_relative_coord *	self,
		const char *	str
	)

Convert from a string.

Definition at line 257 of file wb_pixel_to_robot_relative_coord.c.

References wb_pixel_to_robot_relative_coord::i, and PIXEL_TO_ROBOT_RELATIVE_COORD_DESC_BUFFER_SIZE.

◆ wb_pixel_to_robot_relative_coord_to_network_serialised()

size_t wb_pixel_to_robot_relative_coord_to_network_serialised	(	const struct wb_pixel_to_robot_relative_coord *	self,
		char *	dst
	)

Convert to a compressed, serialised, network byte order byte stream.

WHITEBOARD_POSTER_STRING_CONVERSION.

Definition at line 353 of file wb_pixel_to_robot_relative_coord.c.

References htonl.

◆ wb_pixel_to_robot_relative_coord_to_string()

const char * wb_pixel_to_robot_relative_coord_to_string	(	const struct wb_pixel_to_robot_relative_coord *	self,
		char *	toString,
		size_t	bufferSize
	)

Convert to a string.

Definition at line 241 of file wb_pixel_to_robot_relative_coord.c.

Referenced by guWhiteboard::PixelToRobotRelativeCoord::to_string().

Macros

Functions