#include <gu_util.h>
#include <stdint.h>
#include "wb_sensors_torsojointsensors.h"
#include "wb_sensors_legjointsensors.h"
#include "wb_vision_control_status.h"
#include <stdlib.h>

Include dependency graph for wb_pixel_to_robot_relative_coord.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	wb_pixel_to_robot_relative_coord
	WHITEBOARD_POSTER_STRING_CONVERSION. More...

Macros
#define	_XOPEN_SOURCE 700

#define	CAMERA_HFOV (60.97*M_PI/180)

#define	CAMERA_VFOV (47.64*M_PI/180)

#define	BOTTOM_CAMERA_ANGLE (-39.7*M_PI/180)

#define	TOP_CAMERA_ANGLE (-1.2*M_PI/180)

#define	HEAD_BASE_HEIGHT 0.417

#define	HEAD_BASE_HEIGHT_KNEELING 0.377

#define	BOTTOM_CAMERA_OFFSET_Z 0.01774

#define	TOP_CAMERA_OFFSET_Z 0.06364

#define	BOTTOM_CAMERA_OFFSET_X 0.05071

#define	TOP_CAMERA_OFFSET_X 0.05871

#define	CONV_TO_IMG(x, r) (static_cast<uint16_t>((x + INT16_MAX) / ((INT16_MAX * 2) / r)))

#define	PIXEL_TO_ROBOT_RELATIVE_COORD_GENERATED

#define	PIXEL_TO_ROBOT_RELATIVE_COORD_C_STRUCT wb_pixel_to_robot_relative_coord

#define	PIXEL_TO_ROBOT_RELATIVE_COORD_NUMBER_OF_VARIABLES 1

#define	PIXEL_TO_ROBOT_RELATIVE_COORD_DESC_BUFFER_SIZE 14

#define	PIXEL_TO_ROBOT_RELATIVE_COORD_TO_STRING_BUFFER_SIZE 12

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

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_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	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	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)

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)
	WHITEBOARD_POSTER_STRING_CONVERSION. More...

size_t	wb_pixel_to_robot_relative_coord_from_network_serialised (const char src, struct wb_pixel_to_robot_relative_coord dst)
	Network stream deserialisation. More...

Macro Definition Documentation

◆ _XOPEN_SOURCE

#define _XOPEN_SOURCE 700

Definition at line 72 of file wb_pixel_to_robot_relative_coord.h.

◆ BOTTOM_CAMERA_ANGLE

#define BOTTOM_CAMERA_ANGLE (-39.7*M_PI/180)

Definition at line 97 of file wb_pixel_to_robot_relative_coord.h.

◆ BOTTOM_CAMERA_OFFSET_X

#define BOTTOM_CAMERA_OFFSET_X 0.05071

Definition at line 106 of file wb_pixel_to_robot_relative_coord.h.

◆ BOTTOM_CAMERA_OFFSET_Z

#define BOTTOM_CAMERA_OFFSET_Z 0.01774

Definition at line 104 of file wb_pixel_to_robot_relative_coord.h.

◆ CAMERA_HFOV

#define CAMERA_HFOV (60.97*M_PI/180)

Definition at line 94 of file wb_pixel_to_robot_relative_coord.h.

◆ CAMERA_VFOV

#define CAMERA_VFOV (47.64*M_PI/180)

Definition at line 95 of file wb_pixel_to_robot_relative_coord.h.

◆ CONV_TO_IMG

#define CONV_TO_IMG	(	x,
		r
	)	(static_cast<uint16_t>((x + INT16_MAX) / ((INT16_MAX * 2) / r)))

Definition at line 114 of file wb_pixel_to_robot_relative_coord.h.

◆ HEAD_BASE_HEIGHT

#define HEAD_BASE_HEIGHT 0.417

Definition at line 101 of file wb_pixel_to_robot_relative_coord.h.

◆ HEAD_BASE_HEIGHT_KNEELING

#define HEAD_BASE_HEIGHT_KNEELING 0.377

Definition at line 102 of file wb_pixel_to_robot_relative_coord.h.

◆ PIXEL_TO_ROBOT_RELATIVE_COORD_C_STRUCT

#define PIXEL_TO_ROBOT_RELATIVE_COORD_C_STRUCT wb_pixel_to_robot_relative_coord

Definition at line 154 of file wb_pixel_to_robot_relative_coord.h.

◆ PIXEL_TO_ROBOT_RELATIVE_COORD_DESC_BUFFER_SIZE

#define PIXEL_TO_ROBOT_RELATIVE_COORD_DESC_BUFFER_SIZE 14

Definition at line 158 of file wb_pixel_to_robot_relative_coord.h.

◆ PIXEL_TO_ROBOT_RELATIVE_COORD_GENERATED

#define PIXEL_TO_ROBOT_RELATIVE_COORD_GENERATED

Definition at line 153 of file wb_pixel_to_robot_relative_coord.h.

◆ PIXEL_TO_ROBOT_RELATIVE_COORD_NUMBER_OF_VARIABLES

#define PIXEL_TO_ROBOT_RELATIVE_COORD_NUMBER_OF_VARIABLES 1

Definition at line 155 of file wb_pixel_to_robot_relative_coord.h.

◆ PIXEL_TO_ROBOT_RELATIVE_COORD_TO_STRING_BUFFER_SIZE

#define PIXEL_TO_ROBOT_RELATIVE_COORD_TO_STRING_BUFFER_SIZE 12

Definition at line 159 of file wb_pixel_to_robot_relative_coord.h.

◆ TOP_CAMERA_ANGLE

#define TOP_CAMERA_ANGLE (-1.2*M_PI/180)

Definition at line 98 of file wb_pixel_to_robot_relative_coord.h.

◆ TOP_CAMERA_OFFSET_X

#define TOP_CAMERA_OFFSET_X 0.05871

Definition at line 107 of file wb_pixel_to_robot_relative_coord.h.

◆ TOP_CAMERA_OFFSET_Z

#define TOP_CAMERA_OFFSET_Z 0.06364

Definition at line 105 of file wb_pixel_to_robot_relative_coord.h.

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
	)

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
	)

WHITEBOARD_POSTER_STRING_CONVERSION.

Network stream serialisation