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364 ++- search/variables_a.js | 2 +- search/variables_b.js | 6 +- search/variables_c.js | 138 +- search/variables_d.js | 489 ++- search/variables_e.js | 305 +- search/variables_f.js | 42 +- sim__motor_8h_source.html | 13 +- structNode-members.html | 6 +- structNode.html | 26 +- structPointPair-members.html | 6 +- structPointPair.html | 14 +- structPointXY-members.html | 6 +- structPointXY.html | 10 +- structPolar2D-members.html | 6 +- structPolar2D.html | 14 +- structcam_1_1CameraConfig-members.html | 6 +- structcam_1_1CameraConfig.html | 22 +- structcam_1_1CameraConfig__coll__graph.map | 2 +- structcam_1_1CameraConfig__coll__graph.md5 | 2 +- structcan_1_1motor_1_1sensor__t-members.html | 6 +- structcan_1_1motor_1_1sensor__t.html | 8 +- structcan_1_1packettype__t-members.html | 6 +- structcan_1_1packettype__t.html | 8 +- structcommands_1_1command__t-members.html | 6 +- structcommands_1_1command__t.html | 10 +- structcontrol_1_1PIDGains-members.html | 6 +- structcontrol_1_1PIDGains.html | 16 +- ...coder_1_1x264__nal__t__simple-members.html | 6 +- ...cth264encoder_1_1x264__nal__t__simple.html | 10 +- structkinematics_1_1gearpos__t-members.html | 6 +- structkinematics_1_1gearpos__t.html | 18 +- structkinematics_1_1jointpos__t-members.html | 6 +- structkinematics_1_1jointpos__t.html | 18 +- ...nematics_1_1swervewheelvel__t-members.html | 6 +- structkinematics_1_1swervewheelvel__t.html | 22 +- structkinematics_1_1wheelvel__t-members.html | 6 +- structkinematics_1_1wheelvel__t.html | 10 +- structlidar_1_1BoundingBox-members.html | 6 +- structlidar_1_1BoundingBox.html | 14 +- structlidar_1_1Polar2D-members.html | 6 +- structlidar_1_1Polar2D.html | 14 +- structnavtypes_1_1URCLeg-members.html | 6 +- structnavtypes_1_1URCLeg.html | 12 +- structnavtypes_1_1URCLegGPS-members.html | 6 +- structnavtypes_1_1URCLegGPS.html | 12 +- structnavtypes_1_1eulerangles__t-members.html | 6 +- structnavtypes_1_1eulerangles__t.html | 12 +- structnavtypes_1_1gpscoords__t-members.html | 6 +- structnavtypes_1_1gpscoords__t.html | 10 +- structrobot_1_1encparams__t-members.html | 6 +- structrobot_1_1encparams__t.html | 16 +- structrobot_1_1pidcoef__t-members.html | 6 +- structrobot_1_1pidcoef__t.html | 12 +- structrobot_1_1potparams__t-members.html | 6 +- structrobot_1_1potparams__t.html | 14 +- ...pair_3_01T1_00_01T2_01_4_01_4-members.html | 6 +- ...1std_1_1pair_3_01T1_00_01T2_01_4_01_4.html | 10 +- threading_8h_source.html | 17 +- time_8h_source.html | 13 +- modules.html => topics.html | 12 +- transform_8h_source.html | 11 +- world__interface_8h_source.html | 13 +- 629 files changed, 33200 insertions(+), 30391 deletions(-) rename md_src_2camera_2CameraConfig.html => cameraconfig.html (93%) create mode 100644 minus.svg create mode 100644 minusd.svg create mode 100644 plus.svg create mode 100644 plusd.svg create mode 100644 search/all_20.js create mode 100644 search/all_21.js create mode 100644 search/all_22.js create mode 100644 search/all_23.js create mode 100644 search/all_24.js create mode 100644 search/groups_1a.js create mode 100644 search/groups_1b.js create mode 100644 search/groups_1c.js create mode 100644 search/pages_17.js create mode 100644 search/pages_18.js create mode 100644 search/pages_19.js create mode 100644 search/pages_1a.js create mode 100644 search/pages_1b.js create mode 100644 search/pages_1c.js create mode 100644 search/pages_1d.js create mode 100644 search/pages_1e.js rename modules.html => topics.html (91%) diff --git a/ArduPilotInterface_8h_source.html b/ArduPilotInterface_8h_source.html index 8105cfb8e..32d42b351 100644 --- a/ArduPilotInterface_8h_source.html +++ b/ArduPilotInterface_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ardupilot/ArduPilotInterface.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/ArduPilotProtocol_8h_source.html b/ArduPilotProtocol_8h_source.html index e41fe1482..00896a62a 100644 --- a/ArduPilotProtocol_8h_source.html +++ b/ArduPilotProtocol_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ardupilot/ArduPilotProtocol.h Source File @@ -37,7 +37,7 @@ - + +
10namespace ardupilot {
11
12/* @brief A protocol in order to handle messages from an ArduPilot enabled device */
+
13class ArduPilotProtocol {
14public:
15 ArduPilotProtocol(net::websocket::SingleClientWSServer& websocketServer);
@@ -194,6 +200,7 @@
108 std::mutex _lastOrientationMutex;
109 robot::types::DataPoint<navtypes::eulerangles_t> _lastOrientation;
110};
+
111
112} // namespace ardupilot
113} // namespace net
@@ -206,7 +213,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Autonomous_8h_source.html b/Autonomous_8h_source.html index 89cd87565..b98b1de97 100644 --- a/Autonomous_8h_source.html +++ b/Autonomous_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/Autonomous.h Source File @@ -37,7 +37,7 @@ - + +
32 "SEARCH_PATTERN_SECOND_POST",
33 "GATE_ALIGN", "GATE_TRAVERSE", "DONE"});
34
+
35class Autonomous {
36public:
37 explicit Autonomous(const std::vector<navtypes::URCLegGPS>& gpsTargets, double controlHz);
@@ -196,6 +202,7 @@
110 navtypes::pose_t poseToDraw(const navtypes::pose_t& pose,
111 const navtypes::pose_t& current_pose) const;
112};
+
future
map
memory
@@ -216,7 +223,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/CANMotor_8h_source.html b/CANMotor_8h_source.html index c4ab16abd..b4d0da389 100644 --- a/CANMotor_8h_source.html +++ b/CANMotor_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/CAN/CANMotor.h Source File @@ -37,7 +37,7 @@ - + +
17
19enum class motormode_t { pwm = MOTOR_UNIT_MODE_PWM, pid = MOTOR_UNIT_MODE_PID };
20
+
22struct sensor_t {
23 enum { encoder = 0, potentiometer = 1 };
24};
+
25
31void emergencyStopMotors();
32
@@ -168,7 +175,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/CANUtils_8h_source.html b/CANUtils_8h_source.html index db6df02a7..5af995368 100644 --- a/CANUtils_8h_source.html +++ b/CANUtils_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/CAN/CANUtils.h Source File @@ -37,7 +37,7 @@ - + +
12
13namespace can {
14
+
20enum class devicegroup_t {
21 broadcast = DEVICE_GROUP_BROADCAST,
22 reserved = DEVICE_GROUP_RESERVED,
@@ -108,7 +114,9 @@
27 gpio = DEVICE_GROUP_GPIO_BOARDS,
28 science = DEVICE_GROUP_SCIENCE
29};
+
30
+
36enum class telemtype_t {
37 voltage = PACKET_TELEMETRY_VOLTAGE,
38 current = PACKET_TELEMETRY_CURRENT,
@@ -128,10 +136,13 @@
52 adc_raw = PACKET_TELEMETRY_ADC_RAW
53 // add further telemetry types if required
54};
+
55
+
59struct packettype_t {
60 enum { telemetry = ID_TELEMETRY_REPORT, limit_alert = ID_MOTOR_UNIT_LIM_ALERT };
61};
+
62
64using deviceserial_t = uint8_t;
65
@@ -178,7 +189,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/CAN_8h_source.html b/CAN_8h_source.html index 39caa669f..04702f241 100644 --- a/CAN_8h_source.html +++ b/CAN_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/CAN/CAN.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/CameraConfig_8h_source.html b/CameraConfig_8h_source.html index 393763db8..8e605f78d 100644 --- a/CameraConfig_8h_source.html +++ b/CameraConfig_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/camera/CameraConfig.h Source File @@ -37,7 +37,7 @@ - + +
44const std::string KEY_CALIB_INFO = "calib_info";
48const std::string KEY_NAME = "name";
52const std::string KEY_DESCRIPTION = "description";
+
58class invalid_camera_config : public std::exception {
59public:
64 invalid_camera_config();
@@ -112,7 +118,9 @@
76private:
77 std::string _msg;
78};
+
79
+
83struct CameraConfig {
87 std::string name;
88
@@ -124,6 +132,7 @@
106
110 std::optional<std::string> description;
111};
+
112
125CameraConfig readConfigFromFile(const std::string& filename);
126
@@ -145,7 +154,7 @@
cam::readConfigFromFile
CameraConfig readConfigFromFile(const std::string &filename)
Read the camera config from the specified file.
Definition CameraConfig.cpp:15
cam::KEY_CALIB_INFO
const std::string KEY_CALIB_INFO
Config file key for calibration information.
Definition CameraConfig.h:44
cam
Namespace for camera access system.
Definition Camera.cpp:13
-
cam::CameraConfig
A struct that represents the information outlined in cameraconfig.
Definition CameraConfig.h:83
+
cam::CameraConfig
A struct that represents the information outlined in Camera Configuration.
Definition CameraConfig.h:83
cam::CameraConfig::description
std::optional< std::string > description
If specified, gives the text description of the camera.
Definition CameraConfig.h:110
cam::CameraConfig::extrinsicParams
std::optional< cv::Mat > extrinsicParams
If specified, gives the extrinsic parameter matrix.
Definition CameraConfig.h:97
cam::CameraConfig::name
std::string name
The name of the camera.
Definition CameraConfig.h:87
@@ -154,7 +163,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/CameraParams_8h_source.html b/CameraParams_8h_source.html index cb924c103..4c5fabfd4 100644 --- a/CameraParams_8h_source.html +++ b/CameraParams_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/camera/CameraParams.h Source File @@ -37,7 +37,7 @@ - + +
31const std::string KEY_CAMERA_MATRIX = "camera_matrix";
35const std::string KEY_DIST_COEFFS = "distortion_coefficients";
36
+
59class CameraParams {
60private:
61 cv::Mat _camera_matrix;
@@ -116,6 +122,7 @@
121 void readFromFileNode(const cv::FileNode& file_node);
129 void writeToFileStorage(cv::FileStorage& file_storage) const;
130};
+
131
138void read(const cv::FileNode& node, CameraParams& params,
139 const CameraParams& default_value = CameraParams());
@@ -150,7 +157,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Camera_8h_source.html b/Camera_8h_source.html index 5644ace73..35555d087 100644 --- a/Camera_8h_source.html +++ b/Camera_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/camera/Camera.h Source File @@ -37,7 +37,7 @@ - + +
13
27namespace cam {
28
+
63class Camera {
64private:
65 std::shared_ptr<cv::Mat> _frame;
@@ -145,6 +151,7 @@
238 void setName(std::string new_name);
243 void setDescription(std::string new_description);
244};
+
245
247} // namespace cam
memory
@@ -180,7 +187,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/CommandBase_8h_source.html b/CommandBase_8h_source.html index 73f6c9d44..ea19f7e71 100644 --- a/CommandBase_8h_source.html +++ b/CommandBase_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/commands/CommandBase.h Source File @@ -37,7 +37,7 @@ - + +
2
3namespace commands {
4
+
5struct command_t {
6 double thetaVel;
7 double xVel;
8};
+
9
+
10class CommandBase {
11public:
12 virtual command_t getOutput() = 0;
13 virtual bool isDone() = 0;
14};
+
15
16}
commands::CommandBase
Definition CommandBase.h:10
@@ -105,7 +114,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Constants_8h_source.html b/Constants_8h_source.html index ad2ef403d..0499eb924 100644 --- a/Constants_8h_source.html +++ b/Constants_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/Constants.h Source File @@ -37,7 +37,7 @@ - + +
40 // of current that's too much for our power supply (and
41 // the rover's full speed is somewhat hard to control
42 // while it's driving)
-
49constexpr double MAX_WHEEL_VEL = WHEEL_RADIUS * MAX_DRIVE_PWM / PWM_PER_RAD_PER_SEC;
+
49constexpr double MAX_WHEEL_VEL = WHEEL_RADIUS * MAX_DRIVE_PWM / PWM_PER_RAD_PER_SEC;
56const double MAX_DTHETA = kinematics::DiffDriveKinematics(EFF_WHEEL_BASE)
57 .wheelVelToRobotVel(-MAX_WHEEL_VEL, MAX_WHEEL_VEL)(2);
58
@@ -236,7 +241,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Detector_8h_source.html b/Detector_8h_source.html index 17dfab328..88468253b 100644 --- a/Detector_8h_source.html +++ b/Detector_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ar/Detector.h Source File @@ -37,7 +37,7 @@ - + +
12
13namespace AR {
14
+
19class Detector {
20private:
21 std::shared_ptr<MarkerSet> marker_set_;
@@ -121,6 +127,7 @@
39 void setDetectorParams(cv::aruco::DetectorParameters params);
40 bool empty() const;
41};
+
44} // namespace AR
memory
vector
@@ -137,7 +144,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/DiffDriveKinematics_8h_source.html b/DiffDriveKinematics_8h_source.html index c2eca5ae9..8d5123a53 100644 --- a/DiffDriveKinematics_8h_source.html +++ b/DiffDriveKinematics_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/kinematics/DiffDriveKinematics.h Source File @@ -37,7 +37,7 @@ - + +
2
3#include "../navtypes.h"
4namespace kinematics {
+
5struct wheelvel_t {
6 double lVel;
7 double rVel;
8};
+
9
+
14class DiffDriveKinematics {
15public:
22 explicit DiffDriveKinematics(double wheelBaseWidth);
@@ -112,6 +120,7 @@
81private:
82 double wheelBaseWidth;
83};
+
84} // namespace kinematics
kinematics::DiffDriveKinematics
Represents the kinematics of a differential drive.
Definition DiffDriveKinematics.h:14
kinematics::DiffDriveKinematics::getNextPose
navtypes::pose_t getNextPose(const wheelvel_t &wheelVel, const navtypes::pose_t &pose, double dt) const
Calculate the next pose of the robot in the global reference frame.
Definition DiffDriveKinematics.cpp:48
@@ -123,7 +132,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/DiffWristKinematics_8h_source.html b/DiffWristKinematics_8h_source.html index ebb0aefd1..3b7d8b5a1 100644 --- a/DiffWristKinematics_8h_source.html +++ b/DiffWristKinematics_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/kinematics/DiffWristKinematics.h Source File @@ -37,7 +37,7 @@ - + +
3#include <Eigen/Dense>
4
5namespace kinematics {
+
14struct gearpos_t {
22 float left;
30 float right;
@@ -96,7 +102,9 @@
36 gearpos_t(const Eigen::Vector2f& vec);
41 Eigen::Vector2f vec() const;
42};
+
43
+
49struct jointpos_t {
56 float pitch;
63 float roll;
@@ -104,7 +112,9 @@
69 jointpos_t(const Eigen::Vector2f& vec);
74 Eigen::Vector2f vec() const;
75};
+
76
+
84class DiffWristKinematics {
85public:
89 jointpos_t gearPosToJointPos(const gearpos_t& gearPos) const;
@@ -112,6 +122,7 @@
108 jointpos_t gearPowerToJointPower(const gearpos_t& gearPwr) const;
122 gearpos_t jointPowerToGearPower(const jointpos_t& jointPwr) const;
123};
+
124
125} // namespace kinematics
kinematics::DiffWristKinematics
Represents the kinematics of a differential wrist.
Definition DiffWristKinematics.h:84
@@ -132,7 +143,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/DriveToWaypointCommand_8h_source.html b/DriveToWaypointCommand_8h_source.html index 7cd556fea..335ba20a1 100644 --- a/DriveToWaypointCommand_8h_source.html +++ b/DriveToWaypointCommand_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/commands/DriveToWaypointCommand.h Source File @@ -37,7 +37,7 @@ - + +
9
10namespace commands {
11
+
17class DriveToWaypointCommand : CommandBase {
18public:
30 DriveToWaypointCommand(const navtypes::point_t& target, double thetaKP, double driveVel,
@@ -118,6 +124,7 @@
65 std::optional<robot::types::datatime_t> lastRecordedTime;
66 std::optional<robot::types::datatime_t> closeToTargetStartTime;
67};
+
68
69} // namespace commands
chrono
@@ -133,7 +140,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/ExtendedKalmanFilter_8h_source.html b/ExtendedKalmanFilter_8h_source.html index 4a4d8dca5..8093a70a6 100644 --- a/ExtendedKalmanFilter_8h_source.html +++ b/ExtendedKalmanFilter_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/ExtendedKalmanFilter.h Source File @@ -37,7 +37,7 @@ - + +
9namespace filters {
10
28template <int stateDim, int inputDim, int outputDim, int processNoiseDim, int outputNoiseDim>
+
29class ExtendedKalmanFilter : public KalmanFilterBase<stateDim, inputDim> {
30public:
31 using state_t = Eigen::Matrix<double, stateDim, 1>;
@@ -107,13 +113,16 @@
38 using processnoise_t = Eigen::Matrix<double, processNoiseDim, 1>;
39 using outputnoise_t = Eigen::Matrix<double, outputNoiseDim, 1>;
40
+
50 ExtendedKalmanFilter(const statefunc_t& stateFunc, const outputfunc_t& outputFunc,
51 const statespace::NoiseCovMat<stateDim, processNoiseDim, inputDim>& processNoise,
52 const statespace::NoiseCovMat<stateDim, outputNoiseDim, outputDim>& outputNoise,
53 double dt)
54 : stateFunc(stateFunc), outputFunc(outputFunc), Q(processNoise), R(outputNoise),
55 dt(dt) {}
+
56
+
57 void predict(const Eigen::Matrix<double, inputDim, 1>& input) override {
58 Eigen::Matrix<double, stateDim, stateDim> F =
59 getStateFuncJacobianX(stateFunc, this->xHat, input);
@@ -126,7 +135,9 @@
66 this->xHat = stateFunc(this->xHat, input, processnoise_t::Zero());
67 this->P = F * this->P * F.transpose() + L * processNoise * L.transpose();
68 }
+
69
+
77 void correct(const Eigen::Matrix<double, outputDim, 1>& measurement) {
78 Eigen::Matrix<double, outputDim, stateDim> H =
79 getOutputFuncJacobianX(outputFunc, this->xHat); // output matrix
@@ -147,6 +158,7 @@
94 this->xHat = this->xHat + K * y;
95 this->P = (Eigen::Matrix<double, stateDim, stateDim>::Identity() - K * H) * this->P;
96 }
+
97
103 std::function<Eigen::Matrix<double, stateDim, stateDim>(const state_t&, const input_t&,
104 const processnoise_t&)>
@@ -242,6 +254,7 @@
209 }
210 }
211};
+
212
213} // namespace filters
Eigen::DenseBase::Zero
static const ConstantReturnType Zero()
@@ -264,7 +277,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/FabrikSolver_8h_source.html b/FabrikSolver_8h_source.html index 63d7a0bdb..06c918eb2 100644 --- a/FabrikSolver_8h_source.html +++ b/FabrikSolver_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/kinematics/FabrikSolver.h Source File @@ -37,7 +37,7 @@ - + +
7
8namespace kinematics {
9
+
20template <int N> class FabrikSolver2D {
21public:
+
32 FabrikSolver2D(const navtypes::Arrayd<N>& segLens, const navtypes::Arrayd<N>& jointMin,
33 const navtypes::Arrayd<N>& jointMax, double thresh, int maxIter)
34 : segLens(segLens), jointMin(jointMin), jointMax(jointMax), thresh(thresh),
35 maxIter(maxIter) {}
+
36
+
47 navtypes::Arrayd<N> solve(const Eigen::Vector2d& eePos,
48 const navtypes::Arrayd<N>& jointAngles, bool& success) const {
49 double armLen = segLens.sum();
@@ -145,6 +154,7 @@
89 }
90 return targetJointAngles;
91 }
+
92
93private:
94 navtypes::Arrayd<N> segLens;
@@ -189,6 +199,7 @@
133 return jointAngles;
134 }
135};
+
136
137} // namespace kinematics
std::sin
complex< _Tp > sin(const complex< _Tp > &)
@@ -204,7 +215,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/FullPoseEstimator_8h_source.html b/FullPoseEstimator_8h_source.html index ce94fa258..704d96c48 100644 --- a/FullPoseEstimator_8h_source.html +++ b/FullPoseEstimator_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/FullPoseEstimator.h Source File @@ -37,7 +37,7 @@ - + +
8
9namespace filters {
10using namespace kinematics;
+
20class FullPoseEstimator {
21public:
22 static constexpr int numStates = 3;
@@ -124,6 +130,7 @@
106 double dt;
107 MultiSensorEKF<numStates, 2, 2, numSensors> ekf;
108};
+
109
110} // namespace filters
array
@@ -140,7 +147,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/GlobalMap_8h_source.html b/GlobalMap_8h_source.html index ad83efb4b..55bd56139 100644 --- a/GlobalMap_8h_source.html +++ b/GlobalMap_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/worldmap/GlobalMap.h Source File @@ -37,7 +37,7 @@ - + +
6
7#include <vector>
8
+
13class GlobalMap {
14public:
27 explicit GlobalMap(double areaSize, int scanStride = 1, int maxIter = 25,
@@ -115,6 +121,7 @@
90 TrICP icp;
91 int scanStride;
92};
+
vector
std::vector< point_t >
GlobalMap
Represents a 2D global point cloud map.
Definition GlobalMap.h:13
@@ -129,7 +136,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Globals_8h_source.html b/Globals_8h_source.html index f20e0d608..89049c5b8 100644 --- a/Globals_8h_source.html +++ b/Globals_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/Globals.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/H264Encoder_8h_source.html b/H264Encoder_8h_source.html index bafa6c5ac..1944fe2b3 100644 --- a/H264Encoder_8h_source.html +++ b/H264Encoder_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/video/H264Encoder.h Source File @@ -37,7 +37,7 @@ - + +
7#include <opencv2/core/core.hpp>
8
9namespace video {
+
14class H264Encoder {
15public:
24 H264Encoder(int fps, int rf);
@@ -106,6 +112,7 @@
37 // the rf constant for rate control compression
38 int rf;
39};
+
40} // namespace video
string
vector
@@ -118,7 +125,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/JacobianPosController_8h_source.html b/JacobianPosController_8h_source.html index 4edd5b142..f5c19aa8f 100644 --- a/JacobianPosController_8h_source.html +++ b/JacobianPosController_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/control/JacobianPosController.h Source File @@ -37,7 +37,7 @@ - + +
14
15namespace control {
16
+
27template <int outputDim, int inputDim> class JacobianPosController {
28public:
+
39 JacobianPosController(
40 const std::function<navtypes::Vectord<outputDim>(const navtypes::Vectord<inputDim>&)>&
41 kinematicsFunc,
@@ -116,13 +123,17 @@
50 assert(this->kinematicsFunc);
51 assert(this->jacobianFunc);
52 }
+
53
+
62 navtypes::Vectord<inputDim> getCommand(robot::types::datatime_t currTime,
63 const navtypes::Vectord<inputDim>& currPos) const {
64 double unused;
65 return getCommand(currTime, currPos, unused);
66 }
+
67
+
80 navtypes::Vectord<inputDim> getCommand(robot::types::datatime_t currTime,
81 const navtypes::Vectord<inputDim>& currPos,
82 double& cosineSim) const {
@@ -149,21 +160,28 @@
103
104 return currPos + inputPosDiff;
105 }
+
106
+
114 void setTarget(robot::types::datatime_t currTime,
115 const navtypes::Vectord<inputDim>& currPos,
116 const navtypes::Vectord<outputDim>& target) {
117 navtypes::Vectord<outputDim> currPosOutput = kinematicsFunc(currPos);
118 velocityProfile.setTarget(currTime, currPosOutput, target);
119 }
+
120
+
126 bool hasTarget() const {
127 return velocityProfile.hasTarget();
128 }
+
129
+
133 void reset() {
134 velocityProfile.reset();
135 }
+
136
137private:
138 std::function<navtypes::Vectord<outputDim>(const navtypes::Vectord<inputDim>&)>
@@ -173,6 +191,7 @@
142 jacobianFunc;
143 TrapezoidalVelocityProfile<outputDim> velocityProfile;
144};
+
145
146} // namespace control
array
@@ -200,7 +219,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/JacobianVelController_8h_source.html b/JacobianVelController_8h_source.html index ec4b95dbf..e424986fa 100644 --- a/JacobianVelController_8h_source.html +++ b/JacobianVelController_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/control/JacobianVelController.h Source File @@ -37,7 +37,7 @@ - + +
11
12#include <Eigen/Core>
13
+
22template <int outputDim, int inputDim> class JacobianVelController {
23public:
+
32 JacobianVelController(
33 const std::function<navtypes::Vectord<outputDim>(const navtypes::Vectord<inputDim>&)>&
34 kinematicsFunc,
@@ -111,13 +118,17 @@
41 assert(this->kinematicsFunc);
42 assert(this->jacobianFunc);
43 }
+
44
+
53 navtypes::Vectord<inputDim> getCommand(robot::types::datatime_t currTime,
54 const navtypes::Vectord<inputDim>& currPos) {
55 double unused;
56 return getCommand(currTime, currPos, unused);
57 }
+
58
+
70 navtypes::Vectord<inputDim> getCommand(robot::types::datatime_t currTime,
71 const navtypes::Vectord<inputDim>& currPos,
72 double& cosineSim) {
@@ -153,20 +164,27 @@
102
103 return currPos + inputPosDiff;
104 }
+
105
+
112 void setTarget(robot::types::datatime_t currTime,
113 const navtypes::Vectord<outputDim>& targetVel) {
114 state_t state = {.timestamp = currTime, .targetVel = targetVel, .lastTarget = {}};
115 this->controllerState = state;
116 }
+
117
+
123 bool hasTarget() {
124 return controllerState.has_value();
125 }
+
126
+
130 void reset() {
131 controllerState.reset();
132 }
+
133
134private:
135 struct state_t {
@@ -181,6 +199,7 @@
144 jacobianFunc;
145 std::optional<state_t> controllerState;
146};
+
functional
optional
bind
_Bind_helper< __is_socketlike< _Func >::value, _Func, _BoundArgs... >::type bind(_Func &&__f, _BoundArgs &&... __args)
@@ -201,7 +220,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/KalmanFilterBase_8h_source.html b/KalmanFilterBase_8h_source.html index 0e80b4e51..76bed2e02 100644 --- a/KalmanFilterBase_8h_source.html +++ b/KalmanFilterBase_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/KalmanFilterBase.h Source File @@ -37,7 +37,7 @@ - + +
6
7namespace filters {
8
+
15template <int stateDim, int inputDim> class KalmanFilterBase {
16public:
17 KalmanFilterBase()
@@ -100,39 +106,52 @@
20
26 virtual void predict(const Eigen::Matrix<double, inputDim, 1>& input) = 0;
27
+
37
+
51
+
66
+
78 void reset(const Eigen::Matrix<double, stateDim, 1>& state,
79 const Eigen::Matrix<double, stateDim, stateDim>& estCovMat) {
80 xHat = state;
81 P = estCovMat;
82 }
+
83
+
89 Eigen::Matrix<double, stateDim, 1> getState() const {
90 return xHat;
91 }
+
92
+
103
104protected:
105 Eigen::Matrix<double, stateDim, stateDim> P;
106 Eigen::Matrix<double, stateDim, 1> xHat;
107};
+
108
109} // namespace filters
Eigen::MatrixBase::Identity
static const IdentityReturnType Identity()
@@ -149,7 +168,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/KalmanFilter_8h_source.html b/KalmanFilter_8h_source.html index 2b740e0c9..b7b7556e0 100644 --- a/KalmanFilter_8h_source.html +++ b/KalmanFilter_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/KalmanFilter.h Source File @@ -37,7 +37,7 @@ - + +
9namespace filters {
10
20template <int stateDim, int inputDim, int outputDim>
+
21class KalmanFilter : public KalmanFilterBase<stateDim, inputDim> {
22public:
39 static KalmanFilter
+
40 createContinuous(const Eigen::Matrix<double, stateDim, stateDim>& systemMat,
41 const Eigen::Matrix<double, stateDim, inputDim>& inputMat,
42 const Eigen::Matrix<double, outputDim, stateDim>& outputMat,
@@ -137,8 +144,10 @@
76 return KalmanFilter(discA, discB, outputMat, stateCovariance, measurementCovariance,
77 gainMatrix);
78 }
+
79
96 static KalmanFilter
+
97 createDiscrete(const Eigen::Matrix<double, stateDim, stateDim>& systemMat,
98 const Eigen::Matrix<double, stateDim, inputDim>& inputMat,
99 const Eigen::Matrix<double, outputDim, stateDim>& outputMat,
@@ -180,16 +189,21 @@
135 return KalmanFilter(systemMat, inputMat, outputMat, stateCovariance,
136 measurementCovariance, gainMatrix);
137 }
+
138
+
146 void correct(const Eigen::Matrix<double, outputDim, 1>& measurement) {
147 this->xHat = this->xHat + K * (measurement - C * this->xHat);
148 this->P = (Eigen::Matrix<double, stateDim, stateDim>::Identity() - K * C) * this->P;
149 }
+
150
+
151 void predict(const Eigen::Matrix<double, inputDim, 1>& input) override {
152 this->xHat = A * this->xHat + B * input;
153 this->P = A * this->P * A.transpose() + Q;
154 }
+
155
156private:
157 Eigen::Matrix<double, stateDim, stateDim> A; // system matrix
@@ -208,6 +222,7 @@
170 const Eigen::Matrix<double, stateDim, outputDim>& K)
171 : A(A), B(B), C(C), Q(Q), R(R), K(K) {}
172};
+
173
174} // namespace filters
Eigen::DenseBase::transpose
TransposeReturnType transpose()
@@ -227,7 +242,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/LidarVis_8h_source.html b/LidarVis_8h_source.html index bac32d1b5..76f7ce87e 100644 --- a/LidarVis_8h_source.html +++ b/LidarVis_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/LidarVis.h Source File @@ -37,7 +37,7 @@ - + +
25constexpr int vis_grid_dist = 1000;
26constexpr int vis_lidar_size = 10;
27
+
28class LidarVis {
29private:
30 cv::Mat view;
@@ -129,6 +135,7 @@
43 void clear();
44 cv::Mat getView();
45};
+
46} // namespace lidar
vector
std::string
_GLIBCXX_END_NAMESPACE_CXX11 typedef basic_string< char > string
@@ -145,7 +152,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/MarkerPattern_8h_source.html b/MarkerPattern_8h_source.html index 434242d51..4e124ae85 100644 --- a/MarkerPattern_8h_source.html +++ b/MarkerPattern_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ar/MarkerPattern.h Source File @@ -37,7 +37,7 @@ - + +
7
8namespace AR {
9
+
28class MarkerPattern {
29private:
33 uint8_t data_region_size;
@@ -110,6 +116,7 @@
66 int getId() const;
67 bool operator==(const MarkerPattern& other) const;
68};
+
69
72} // namespace AR
memory
@@ -123,7 +130,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/MarkerSet_8h_source.html b/MarkerSet_8h_source.html index 382c84682..989fb919c 100644 --- a/MarkerSet_8h_source.html +++ b/MarkerSet_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ar/MarkerSet.h Source File @@ -37,7 +37,7 @@ - + +
10#include <opencv2/core.hpp>
11
12namespace AR {
+
38class MarkerSet {
39private:
40 cv::Ptr<cv::aruco::Dictionary> dict;
@@ -115,9 +121,11 @@
91 cv::Ptr<cv::aruco::Dictionary> markerDictPtr);
96 void addIDMapping(int id, int mapping);
101 int getIDMapping(int id) const;
+
108 template <class IDMapping_t> IDMapping_t getIDMappingCast(int id) const {
109 return static_cast<IDMapping_t>(this->getIDMapping(id));
110 }
+
114 cv::Ptr<cv::aruco::Dictionary> getDict() const;
119 uint8_t getDataRegionSize() const;
125 uint8_t getBorderSize() const;
@@ -128,6 +136,7 @@
153 bool isIDMapped(int id) const;
157 int& operator[](int id);
158};
+
159
160namespace Markers {
164enum URCMarkerName {
@@ -146,7 +155,7 @@
190const std::shared_ptr<MarkerSet> CIRC_MARKERS();
191
192} // namespace Markers
-
194} // namespace AR
+
194} // namespace AR
memory
unordered_map
vector
@@ -175,7 +184,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/MissionControlProtocol_8h_source.html b/MissionControlProtocol_8h_source.html index 3153a520f..5bbd7ae16 100644 --- a/MissionControlProtocol_8h_source.html +++ b/MissionControlProtocol_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/network/MissionControlProtocol.h Source File @@ -37,7 +37,7 @@ - + +
23using websocket::SingleClientWSServer;
24using websocket::WebSocketProtocol;
25
+
26class MissionControlProtocol : public WebSocketProtocol { // TODO: add documentation
27public:
28 MissionControlProtocol(SingleClientWSServer& server);
@@ -160,6 +166,7 @@
74 void setRequestedJointPower(jointid_t joint, double power);
75 void setRequestedCmdVel(double dtheta, double dx);
76};
+
77
78}; // namespace mc
79} // namespace net
@@ -192,7 +199,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/MultiSensorEKF_8h_source.html b/MultiSensorEKF_8h_source.html index a4c0b3d13..95bbea1ae 100644 --- a/MultiSensorEKF_8h_source.html +++ b/MultiSensorEKF_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/MultiSensorEKF.h Source File @@ -37,7 +37,7 @@ - + +
13
14namespace filters {
15
+
19class Output {
20public:
21 // (state, outputnoise) -> output
@@ -111,6 +117,7 @@
28 const outputfunc_t outputFunc;
29 const statespace::NoiseCovMatX covMat;
30
+
42 Output(int stateDim, int outputDim, int outputNoiseDim, const outputfunc_t& outputFunc,
43 const statespace::NoiseCovMatX& covMat)
44 : stateDim(stateDim), outputDim(outputDim), outputNoiseDim(outputNoiseDim),
@@ -118,7 +125,9 @@
46 assert(covMat.stateDim == stateDim && covMat.size == outputNoiseDim &&
47 covMat.paramDim == outputDim);
48 }
+
49
+
59 Eigen::MatrixXd outputFuncJacobianX(const Eigen::VectorXd& state) {
60 assert(state.size() == stateDim);
61 Eigen::VectorXd outputNoise = Eigen::VectorXd::Zero(outputNoiseDim);
@@ -129,7 +138,9 @@
66 return util::numericalJacobian(func, state, outputDim);
67 }
68 }
+
69
+
79 Eigen::MatrixXd outputFuncJacobianV(const Eigen::VectorXd& state) {
80 assert(state.size() == stateDim);
81 if (outFuncJacobianV) {
@@ -143,24 +154,31 @@
89 return util::numericalJacobian(func, v, outputDim);
90 }
91 }
+
92
+
99 Eigen::VectorXd getOutput(const Eigen::VectorXd& state) {
100 assert(state.size() == stateDim);
101 Eigen::VectorXd outputNoise = Eigen::VectorXd::Zero(outputNoiseDim);
102 return outputFunc(state, outputNoise);
103 }
+
104
+
118 void setOutputFuncJacobianX(
119 const std::function<Eigen::MatrixXd(const Eigen::VectorXd&, const Eigen::VectorXd&)>&
120 jacobianX) {
121 outFuncJacobianX = jacobianX;
122 }
+
123
+
137 void setOutputFuncJacobianV(
138 const std::function<Eigen::MatrixXd(const Eigen::VectorXd&, const Eigen::VectorXd&)>&
139 jacobianV) {
140 outFuncJacobianV = jacobianV;
141 }
+
142
143private:
144 std::function<Eigen::MatrixXd(const Eigen::VectorXd&, const Eigen::VectorXd&)>
@@ -169,8 +187,10 @@
147 std::function<Eigen::MatrixXd(const Eigen::VectorXd&, const Eigen::VectorXd&)>
148 outFuncJacobianV;
149};
+
150
151template <int stateDim, int inputDim, int processNoiseDim, int numOutputs>
+
152class MultiSensorEKF : public KalmanFilterBase<stateDim, inputDim> {
153public:
154 using state_t = navtypes::Vectord<stateDim>;
@@ -271,6 +291,7 @@
249 const state_t&, const input_t&, const processnoise_t&)>
250 stateFuncJacobianWSol;
251};
+
252
253} // namespace filters
array
@@ -298,7 +319,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PIDControl_8h_source.html b/PIDControl_8h_source.html index 2387172e9..7f6539943 100644 --- a/PIDControl_8h_source.html +++ b/PIDControl_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/control/PIDControl.h Source File @@ -37,7 +37,7 @@ - + +
12
13namespace control {
14
+
19struct PIDGains {
20 double kP, kI, kD, kF;
21 std::optional<double> iZone;
22};
+
23
+
30template <int dim> class PIDController {
31public:
32 template <int d> using Arrayd = Eigen::Array<double, d, 1>;
33
+
39 PIDController(const std::array<PIDGains, dim>& gains) {
40 reset();
41 setGains(gains);
42 }
+
43
+
49 void setGains(const std::array<PIDGains, dim>& gains) {
50 for (int i = 0; i < dim; i++) {
51 kP(i) = gains[i].kP;
@@ -121,15 +132,21 @@
55 iZone(i) = gains[i].iZone.value_or(std::numeric_limits<double>::infinity());
56 }
57 }
+
58
+
64 bool hasTarget() {
65 return setPoint.has_value();
66 }
+
67
+
73 void setTarget(const Arrayd<dim>& setPoint) {
74 this->setPoint = setPoint;
75 }
+
76
+
84 Arrayd<dim> getOutput(robot::types::datatime_t currTime, const Arrayd<dim>& currValue) {
85 if (!setPoint.has_value()) {
86 return Arrayd<dim>::Zero();
@@ -164,12 +181,15 @@
115
116 return output;
117 }
+
118
+
122 void reset() {
123 setPoint.reset();
124 lastData.reset();
125 iAccum.setZero();
126 }
+
127
128private:
129 Arrayd<dim> kP, kI, kD, kF;
@@ -178,6 +198,7 @@
132 std::optional<Arrayd<dim>> setPoint;
133 std::optional<std::pair<robot::types::datatime_t, Arrayd<dim>>> lastData;
134};
+
135} // namespace control
chrono
functional
@@ -201,7 +222,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PlanarArmController_8h_source.html b/PlanarArmController_8h_source.html index 9d650b259..7db961eed 100644 --- a/PlanarArmController_8h_source.html +++ b/PlanarArmController_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/control/PlanarArmController.h Source File @@ -37,7 +37,7 @@ - + +
14
15namespace control {
16
+
24template <unsigned int N> class PlanarArmController {
25public:
+
33 PlanarArmController(const navtypes::Vectord<N>& currJointPos,
34 kinematics::PlanarArmKinematics<N> kin_obj)
35 : kin(kin_obj), setpoint(kin.jointPosToEEPos(currJointPos)), velocity({0.0, 0.0}) {}
+
36
+
42 void set_setpoint(const navtypes::Vectord<N>& targetJointPos) {
43 Eigen::Vector2d newSetPoint = kin.jointPosToEEPos(targetJointPos);
44 std::lock_guard<std::mutex> lock(mutex);
45 setpoint = newSetPoint;
46 }
+
47
+
54 Eigen::Vector2d get_setpoint(robot::types::datatime_t currTime) {
55 Eigen::Vector2d pos;
56 {
@@ -134,7 +145,9 @@
73 }
74 return pos;
75 }
+
76
+
84 void set_x_vel(robot::types::datatime_t currTime, double targetVel) {
85 std::lock_guard<std::mutex> lock(mutex);
86 if (velTimestamp.has_value()) {
@@ -145,7 +158,9 @@
91 velocity(0) = targetVel;
92 velTimestamp = currTime;
93 }
+
94
+
102 void set_y_vel(robot::types::datatime_t currTime, double targetVel) {
103 std::lock_guard<std::mutex> lock(mutex);
104 if (velTimestamp.has_value()) {
@@ -156,7 +171,9 @@
109 velocity(1) = targetVel;
110 velTimestamp = currTime;
111 }
+
112
+
121 navtypes::Vectord<N> getCommand(robot::types::datatime_t currTime,
122 const navtypes::Vectord<N>& currJointPos) {
123 Eigen::Vector2d newPos = get_setpoint(currTime);
@@ -167,6 +184,7 @@
128 // get new joint positions for target EE
129 return kin.eePosToJointPos(newPos, currJointPos);
130 }
+
131
132private:
133 std::mutex mutex;
@@ -175,6 +193,7 @@
136 Eigen::Vector2d velocity;
137 std::optional<robot::types::datatime_t> velTimestamp;
138};
+
139} // namespace control
initializer_list
array
@@ -198,7 +217,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PlanarArmKinematics_8h_source.html b/PlanarArmKinematics_8h_source.html index 520ab3501..b501a3cd5 100644 --- a/PlanarArmKinematics_8h_source.html +++ b/PlanarArmKinematics_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/kinematics/PlanarArmKinematics.h Source File @@ -37,7 +37,7 @@ - + +
11
12namespace kinematics {
13
+
19template <unsigned int N> class PlanarArmKinematics {
20public:
+
32 PlanarArmKinematics(const navtypes::Vectord<N>& segLens,
33 const navtypes::Vectord<N>& jointMin,
34 const navtypes::Vectord<N>& jointMax, double solverThreshold,
35 int solverMaxIter)
36 : segLens(segLens), jointMin(jointMin), jointMax(jointMax),
37 ikSolver(segLens, jointMin, jointMax, solverThreshold, solverMaxIter) {}
+
38
+
44 constexpr unsigned int getNumSegments() const {
45 return N;
46 }
+
47
+
53 navtypes::Vectord<N> getSegLens() const {
54 return segLens;
55 }
+
56
+
64 navtypes::Matrixd<2, N> getJacobian(const navtypes::Vectord<N>& jointPos) const {
65 Eigen::Matrix<double, 2, N> jacobian = Eigen::Matrix<double, 2, N>::Zero();
66 std::array<double, N> thetaCumSum;
@@ -129,7 +142,9 @@
76 }
77 return jacobian;
78 }
+
79
+
86 Eigen::Vector2d jointPosToEEPos(const navtypes::Vectord<N>& jointPos) const {
87 Eigen::Vector2d eePos = Eigen::Vector2d::Zero();
88 double accumAngle = 0;
@@ -140,29 +155,38 @@
93 }
94 return eePos;
95 }
+
96
+
104 Eigen::Vector2d jointVelToEEVel(const navtypes::Vectord<N>& jointPos,
105 const navtypes::Vectord<N>& jointVel) const {
106 return getJacobian(jointPos) * jointVel;
107 }
+
108
+
119 navtypes::Vectord<N> eePosToJointPos(const Eigen::Vector2d& eePos,
120 const navtypes::Vectord<N>& currJointPos) const {
121 bool success;
122 return ikSolver.solve(eePos, currJointPos, success);
123 }
+
124
+
136 navtypes::Vectord<N> eePosToJointPos(const Eigen::Vector2d& eePos,
137 const navtypes::Vectord<N>& currJointPos,
138 bool& success) const {
139 return ikSolver.solve(eePos, currJointPos, success);
140 }
+
141
+
149 navtypes::Vectord<N> eeVelToJointVel(const navtypes::Vectord<N>& jointPos,
150 const Eigen::Vector2d& eeVel) const {
151 navtypes::Matrixd<2, N> jacobian = getJacobian(jointPos);
152 return jacobian.colPivHouseholderQR().solve(eeVel);
153 }
+
154
155private:
156 navtypes::Vectord<N> segLens;
@@ -170,6 +194,7 @@
158 navtypes::Vectord<N> jointMax;
159 FabrikSolver2D<N> ikSolver;
160};
+
161
162} // namespace kinematics
initializer_list
@@ -194,7 +219,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PointCloudProcessing_8h_source.html b/PointCloudProcessing_8h_source.html index 4e7c88c02..3ffbca630 100644 --- a/PointCloudProcessing_8h_source.html +++ b/PointCloudProcessing_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/PointCloudProcessing.h Source File @@ -37,7 +37,7 @@ - + +
9
10namespace lidar {
11
+
12typedef struct BoundingBox {
13 float xmin;
14 float ymin;
15 float xmax;
16 float ymax;
17} BoundingBox;
+
18
19bool approxEqual(PointXY p, PointXY q);
20float distance(float x0, float y0, float x1, float y1);
@@ -126,7 +133,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PointGenerator_8h_source.html b/PointGenerator_8h_source.html index c353b526b..4ccd5fce6 100644 --- a/PointGenerator_8h_source.html +++ b/PointGenerator_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/PointGenerator.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PointXY_8h_source.html b/PointXY_8h_source.html index ed77418e3..4a2c95483 100644 --- a/PointXY_8h_source.html +++ b/PointXY_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/math/PointXY.h Source File @@ -37,7 +37,7 @@ - + +
1#pragma once
2
+
6struct PointXY {
7 float x;
8 float y;
9};
+
PointXY
Definition PointXY.h:6
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PoseEstimatorLinear_8h_source.html b/PoseEstimatorLinear_8h_source.html index c8d4a14a2..4c9497bda 100644 --- a/PoseEstimatorLinear_8h_source.html +++ b/PoseEstimatorLinear_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/PoseEstimatorLinear.h Source File @@ -37,7 +37,7 @@ - + +
7
8namespace filters {
9
+
18class [[deprecated]] PoseEstimatorLinear {
19public:
29 PoseEstimatorLinear(const Eigen::Vector3d& stateStdDevs,
@@ -102,26 +108,33 @@
40
47 void predict(double thetaVel, double xVel);
48
+
56 Eigen::Matrix3d getEstimateCovarianceMat() const {
57 return kf.getEstimateCovarianceMat();
58 }
+
59
+
65 void reset() {
66 reset(Eigen::Vector3d::Zero());
67 }
+
68
77 void reset(const navtypes::pose_t& pose);
78
85 void reset(const navtypes::pose_t& pose, const navtypes::pose_t& stdDevs);
86
+
92 navtypes::pose_t getPose() const {
93 return kf.getState();
94 }
+
95
96private:
97 KalmanFilter<3, 3, 3> kf;
98 double dt;
99};
+
100
101} // namespace filters
filters::KalmanFilter
Implements a Kalman Filter.
Definition KalmanFilter.h:21
@@ -132,7 +145,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/PoseEstimator_8h_source.html b/PoseEstimator_8h_source.html index c45a9f4f2..ef5a9b05d 100644 --- a/PoseEstimator_8h_source.html +++ b/PoseEstimator_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/PoseEstimator.h Source File @@ -37,7 +37,7 @@ - + +
9using namespace kinematics;
10namespace filters {
11
+
18class PoseEstimator {
19public:
23 static constexpr int numStates = 3;
@@ -123,6 +129,7 @@
114 DiffDriveKinematics kinematics;
115 double dt;
116};
+
117
118} // namespace filters
Eigen::Matrix
@@ -138,7 +145,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/QuadTree_8h_source.html b/QuadTree_8h_source.html index 69f340b9b..630e55fd3 100644 --- a/QuadTree_8h_source.html +++ b/QuadTree_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/worldmap/QuadTree.h Source File @@ -37,7 +37,7 @@ - + +
4
5#include <memory>
6
+
16class QuadTree {
17public:
24 explicit QuadTree(double width, int nodeCapacity = 4);
@@ -135,6 +141,7 @@
134 // private method paired with QuadTree::getAllPoints()
135 void getAllPoints(const QuadTree& tree, navtypes::points_t& allPoints) const;
136};
+
memory
std::shared_ptr
std::vector< point_t >
@@ -152,7 +159,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/RollingAvgFilter_8h_source.html b/RollingAvgFilter_8h_source.html index 849ad27bc..fca7d4d88 100644 --- a/RollingAvgFilter_8h_source.html +++ b/RollingAvgFilter_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/RollingAvgFilter.h Source File @@ -37,7 +37,7 @@ - + +
6
7namespace filters {
8
+
15template <typename T> class RollingAvgFilter {
16public:
+
22 explicit RollingAvgFilter(size_t numPoints)
23 : numPoints(numPoints), data() {}
+
24
+
34 T get() const {
35 return std::reduce(std::next(data.begin()), data.end(), data.front()) / data.size();
36 }
+
37
+
44 T get(const T& val) {
45 data.push_back(val);
46 if (data.size() > numPoints) {
@@ -109,27 +120,37 @@
49
50 return get();
51 }
+
52
+
56 void reset() {
57 data.clear();
58 }
+
59
+
65 int getSize() const {
66 return data.size();
67 }
+
68
+
74 int getBufferSize() const {
75 return numPoints;
76 }
+
77
+
83 std::list<T> getData() const {
84 return data;
85 }
+
86
87private:
88 size_t numPoints;
89 std::list<T> data;
90};
+
91
92} // namespace filters
iterator
@@ -154,7 +175,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/ScopedTimer_8h_source.html b/ScopedTimer_8h_source.html index 495a7a057..17cd6cb84 100644 --- a/ScopedTimer_8h_source.html +++ b/ScopedTimer_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/utils/ScopedTimer.h Source File @@ -37,7 +37,7 @@ - + +
5
6namespace util {
7
+
14class ScopedTimer {
15public:
23 ScopedTimer(std::string name);
@@ -105,6 +111,7 @@
42 std::chrono::time_point<std::chrono::high_resolution_clock> startTime;
43 std::string name;
44};
+
45
46} // namespace util
chrono
@@ -119,7 +126,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/StateSpaceUtil_8h_source.html b/StateSpaceUtil_8h_source.html index 59c3611eb..79167419a 100644 --- a/StateSpaceUtil_8h_source.html +++ b/StateSpaceUtil_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/StateSpaceUtil.h Source File @@ -37,7 +37,7 @@ - + +
12
21template <int size>
22Eigen::Matrix<double, size, size>
+
23createCovarianceMatrix(const Eigen::Matrix<double, size, 1>& stdDevs) {
24 Eigen::Matrix<double, size, 1> variances = stdDevs.array().square();
25 Eigen::Matrix<double, size, size> mat = variances.asDiagonal();
26 return mat;
27}
+
28
37template <int numStates>
38Eigen::Matrix<double, numStates, numStates>
+
39discreteToContinuous(const Eigen::Matrix<double, numStates, numStates>& A, double dt) {
40 return A.log() / dt;
41}
+
42
53template <int numStates, int numInputs>
+
54void discreteToContinuous(Eigen::Matrix<double, numStates, numStates>& A,
55 Eigen::Matrix<double, numStates, numInputs>& B, double dt) {
56 // Reference paper: https://doi.org/10.1016/0307-904X(80)90177-8
@@ -116,8 +126,10 @@
60 B = A * (discA - Eigen::Matrix<double, numStates, numStates>::Identity()).inverse() *
61 discB;
62}
+
63
74template <int numStates, int numInputs>
+
75void continuousToDiscrete(Eigen::Matrix<double, numStates, numStates>& A,
76 Eigen::Matrix<double, numStates, numInputs>& B, double dt) {
77 // zero order hold discretization for system and input matrices
@@ -133,15 +145,19 @@
87 A = exp.template block<numStates, numStates>(0, 0);
88 B = exp.template block<numStates, numInputs>(0, numStates);
89}
+
90
99template <int numStates>
100Eigen::Matrix<double, numStates, numStates>
+
101discretizeA(const Eigen::Matrix<double, numStates, numStates>& contA, double dt) {
102 // Derived from equations in discreteToContinuous()
-
103 return (contA * dt).exp();
+
103 return (contA * dt).exp();
104}
+
105
118template <int numStates>
+
119void discretizeAQ(const Eigen::Matrix<double, numStates, numStates>& contA,
120 const Eigen::Matrix<double, numStates, numStates>& contQ,
121 Eigen::Matrix<double, numStates, numStates>& discA,
@@ -165,9 +181,11 @@
139 Eigen::Matrix<double, numStates, numStates> q = discA * AinvQ; // A * A^-1 * Q = Q
140 discQ = (q + q.transpose()) / 2.0; // make Q symmetric again if it became asymmetric
141}
+
142
152template <int numStates>
153Eigen::Matrix<double, numStates, numStates>
+
154discretizeQ(const Eigen::Matrix<double, numStates, numStates>& contA,
155 const Eigen::Matrix<double, numStates, numStates>& contQ, double dt) {
156 Eigen::Matrix<double, numStates, numStates> discA;
@@ -175,12 +193,15 @@
158 discretizeAQ(contA, contQ, discA, discQ, dt);
159 return discQ;
160}
+
161
170template <int numStates>
171Eigen::Matrix<double, numStates, numStates>
+
172discretizeR(const Eigen::Matrix<double, numStates, numStates>& contR, double dt) {
173 return contR / dt;
174}
+
175
196template <int numStates>
197static Eigen::Matrix<double, numStates, numStates>
@@ -222,6 +243,7 @@
233 return currP;
234}
235
+
249template <int stateDim, int size, int paramSize> class NoiseCovMat {
250public:
251 using state_t = Eigen::Matrix<double, stateDim, 1>;
@@ -229,25 +251,35 @@
253
254 static_assert(stateDim > 0 && size > 0 && paramSize > 0, "Positive sizes are required!");
255
+
264
+
270 NoiseCovMat(const Eigen::Matrix<double, size, size>& mat)
271 : func([mat](const state_t& x, const param_t& param) { return mat; }) {}
+
272
+
283 NoiseCovMat(const std::function<Eigen::Matrix<double, size, size>(const state_t&,
284 const param_t&)>& func)
285 : func(func) {}
+
286
+
298 Eigen::Matrix<double, size, size> get(const state_t& x, const param_t& param) {
299 return func(x, param);
300 }
+
301
302private:
303 std::function<Eigen::Matrix<double, size, size>(const state_t&, const param_t&)> func;
304};
+
305
315template <>
+
316class NoiseCovMat<-1, -1, -1> {
317public:
318 const int stateDim, size, paramDim;
@@ -265,6 +297,7 @@
363private:
364 std::function<Eigen::MatrixXd(const Eigen::VectorXd&, const Eigen::VectorXd&)> func;
365};
+
366
367using NoiseCovMatX = NoiseCovMat<-1, -1, -1>;
368
@@ -303,7 +336,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/SwerveDriveKinematics_8h_source.html b/SwerveDriveKinematics_8h_source.html index ec0556902..fa5202b4b 100644 --- a/SwerveDriveKinematics_8h_source.html +++ b/SwerveDriveKinematics_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/kinematics/SwerveDriveKinematics.h Source File @@ -37,7 +37,7 @@ - + +
5namespace kinematics {
6using namespace navtypes;
7
+
12struct swervewheelvel_t {
13 double lfVel;
14 double lfRot;
@@ -101,7 +107,9 @@
19 double rbVel;
20 double rbRot;
21};
+
22
+
27class SwerveDriveKinematics {
28public:
38 explicit SwerveDriveKinematics(double baseWidth, double baseLength);
@@ -126,6 +134,7 @@
113
124 Eigen::Matrix<double, 8, 1> getSwerveVelComponents(swervewheelvel_t wheelVel) const;
125};
+
126} // namespace kinematics
Eigen::Matrix
kinematics::SwerveDriveKinematics
Calculates forward and inverse drivebase kinematics for a 4-wheel swerve drivebase with specifiable w...
Definition SwerveDriveKinematics.h:27
@@ -138,7 +147,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/SyntheticLidar_8h_source.html b/SyntheticLidar_8h_source.html index 3ee9ab6f0..0f49f7302 100644 --- a/SyntheticLidar_8h_source.html +++ b/SyntheticLidar_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/SyntheticLidar.h Source File @@ -37,7 +37,7 @@ - + +
7
8struct Polar2D;
9
+
10typedef struct Polar2D {
11 double r, theta;
12} Polar2D;
+
13
+
14class SyntheticLidar {
15private:
16 const float PI = 3.14159265;
@@ -129,6 +137,7 @@
63 // Gets the system time at which the last frame was completed.
64 // auto getLastFrameTime();
65};
+
chrono
memory
vector
@@ -142,7 +151,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Tag_8h_source.html b/Tag_8h_source.html index 29a5a722f..f4044f48a 100644 --- a/Tag_8h_source.html +++ b/Tag_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ar/Tag.h Source File @@ -37,7 +37,7 @@ - + +
6
7namespace AR {
8
+
22class Tag {
23private:
24 cv::Vec3d rvec_;
@@ -106,6 +112,7 @@
56 cv::Vec3d getCoordinates() const;
60 MarkerPattern getMarker() const;
61};
+
62
65} // namespace AR
AR::MarkerPattern
A class to represent the pattern that may appear on a physical AR tag, NOT a physical instance of a t...
Definition MarkerPattern.h:28
@@ -119,7 +126,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/TrICP_8h_source.html b/TrICP_8h_source.html index 348090f02..f2f101db2 100644 --- a/TrICP_8h_source.html +++ b/TrICP_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/worldmap/TrICP.h Source File @@ -37,7 +37,7 @@ - + +
2
3#include "../navtypes.h"
4
+
12class TrICP {
13public:
23 explicit TrICP(int maxIter, double relErrChangeThresh,
@@ -109,6 +115,7 @@
50 // returns true iff any of the stopping conditions are met
51 bool isDone(int numIter, double S, double oldMSE) const;
52};
+
std::vector< point_t >
sample
_SampleIterator sample(_PopulationIterator __first, _PopulationIterator __last, _SampleIterator __out, _Distance __n, _UniformRandomNumberGenerator &&__g)
TrICP
Implements the Trimmed Iterative Closest Point algorithm for 2D point cloud registration.
Definition TrICP.h:12
@@ -116,7 +123,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/TrapezoidalVelocityProfile_8h_source.html b/TrapezoidalVelocityProfile_8h_source.html index fc8d4fe94..552d73701 100644 --- a/TrapezoidalVelocityProfile_8h_source.html +++ b/TrapezoidalVelocityProfile_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/control/TrapezoidalVelocityProfile.h Source File @@ -37,7 +37,7 @@ - + +
13
14namespace control {
15
+
22template <int dim> class TrapezoidalVelocityProfile {
23public:
+
30 TrapezoidalVelocityProfile(double maxVel, double maxAccel)
31 : maxVel(maxVel), maxAccel(maxAccel) {}
+
32
+
36 void reset() {
37 profile.reset();
38 }
+
39
+
45 bool hasTarget() const {
46 return profile.has_value();
47 }
+
48
+
56 void setTarget(robot::types::datatime_t currTime, const std::array<double, dim>& startPos,
57 const std::array<double, dim>& endPos) {
58 navtypes::Vectord<dim> startVec, endVec;
@@ -121,7 +134,9 @@
62 }
63 setTarget(currTime, startVec, endVec);
64 }
+
65
+
73 void setTarget(robot::types::datatime_t currTime, const navtypes::Vectord<dim>& startPos,
74 const navtypes::Vectord<dim>& endPos) {
75 profile_t profile{.startTime = currTime, .startPos = startPos, .endPos = endPos};
@@ -147,7 +162,9 @@
95 }
96 this->profile = profile;
97 }
+
98
+
106 navtypes::Vectord<dim> getCommand(robot::types::datatime_t currTime) const {
107 if (!profile) {
108 return navtypes::Vectord<dim>::Zero();
@@ -172,7 +189,9 @@
127 return profile.endPos;
128 }
129 }
+
130
+
137 std::optional<util::dseconds> getTotalTime() const {
138 if (profile.has_value()) {
139 return util::dseconds(profile->totalTime);
@@ -180,6 +199,7 @@
141 return {};
142 }
143 }
+
144
145private:
146 struct profile_t {
@@ -193,7 +213,9 @@
154 double maxVel, maxAccel;
155 std::optional<profile_t> profile;
156};
+
157
+
162class SingleDimTrapezoidalVelocityProfile {
163public:
170 SingleDimTrapezoidalVelocityProfile(double maxVel, double maxAccel);
@@ -211,6 +233,7 @@
209private:
210 TrapezoidalVelocityProfile<1> profile;
211};
+
212
213} // namespace control
array
@@ -243,7 +266,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/URGLidar_8h_source.html b/URGLidar_8h_source.html index 35371c8c8..4c22734a3 100644 --- a/URGLidar_8h_source.html +++ b/URGLidar_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/URGLidar.h Source File @@ -37,7 +37,7 @@ - + +
20 }
21} Polar2D;
22
+
23class URGLidar {
24private:
25 urg_t urg;
@@ -124,6 +130,7 @@
62 int getError();
67 bool close();
68};
+
chrono
memory
vector
@@ -143,7 +150,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/Util_8h_source.html b/Util_8h_source.html index 5824c3fa3..0b4105bb5 100644 --- a/Util_8h_source.html +++ b/Util_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/Util.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/WebSocketProtocol_8h_source.html b/WebSocketProtocol_8h_source.html index ff7bb13e0..44dc06543 100644 --- a/WebSocketProtocol_8h_source.html +++ b/WebSocketProtocol_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/network/websocket/WebSocketProtocol.h Source File @@ -37,7 +37,7 @@ - + +
15typedef std::function<bool(const json&)> validator_t;
16typedef std::function<void()> connhandler_t;
17
+
27class WebSocketProtocol {
28public:
37 WebSocketProtocol(const std::string& protocolPath);
@@ -135,6 +141,7 @@
120 std::vector<connhandler_t> connectionHandlers;
121 std::vector<connhandler_t> disconnectionHandlers;
122};
+
123
124} // namespace websocket
125} // namespace net
@@ -156,7 +163,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/WebSocketServer_8h_source.html b/WebSocketServer_8h_source.html index 817155106..a31fb43d4 100644 --- a/WebSocketServer_8h_source.html +++ b/WebSocketServer_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/network/websocket/WebSocketServer.h Source File @@ -37,7 +37,7 @@ - + +
20
21typedef std::shared_ptr<websocketpp::config::core::message_type> message_t;
22
+
34class SingleClientWSServer {
35public:
42 SingleClientWSServer(const std::string& serverName, uint16_t port);
@@ -146,6 +152,7 @@
113 void onMessage(connection_hdl hdl, message_t message);
114 void serverTask();
115};
+
116} // namespace websocket
117} // namespace net
functional
@@ -170,7 +177,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/WorldData_8h_source.html b/WorldData_8h_source.html index 1d139103d..699c171ff 100644 --- a/WorldData_8h_source.html +++ b/WorldData_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/WorldData.h Source File @@ -37,7 +37,7 @@ - + +
2
3#include "lidar/PointCloudProcessing.h"
4
+
5class WorldData {
6public:
7 virtual PointXY getGPS() = 0;
@@ -95,12 +101,13 @@
9 virtual bool lidarSees() = 0;
10 virtual float targetDistance() = 0;
11};
+
WorldData
Definition WorldData.h:5
PointXY
Definition PointXY.h:6
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/annotated.html b/annotated.html index fd39e3d05..e862db5e2 100644 --- a/annotated.html +++ b/annotated.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Class List @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/base64__img_8h_source.html b/base64__img_8h_source.html index 6bdd970bc..e6d296eee 100644 --- a/base64__img_8h_source.html +++ b/base64__img_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/base64/base64_img.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/base__motor_8h_source.html b/base__motor_8h_source.html index 978c97d75..b90958ebd 100644 --- a/base__motor_8h_source.html +++ b/base__motor_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/world_interface/motor/base_motor.h Source File @@ -37,7 +37,7 @@ - + +
4#include "../data.h"
5
10namespace robot {
+
15class base_motor {
16public:
23 base_motor(robot::types::motorid_t motor, bool hasPosSensor);
@@ -121,6 +127,7 @@
91
95 void unscheduleVelocityEvent();
96}; // abstract class base_motor
+
97} // namespace robot
std::mutex
robot::base_motor
An abstract motor class.
Definition base_motor.h:15
@@ -140,7 +147,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/md_src_2camera_2CameraConfig.html b/cameraconfig.html similarity index 93% rename from md_src_2camera_2CameraConfig.html rename to cameraconfig.html index 069150396..a09d810a8 100644 --- a/md_src_2camera_2CameraConfig.html +++ b/cameraconfig.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Camera Configuration @@ -37,7 +37,7 @@ - + +
6#include "base_motor.h"
7
12namespace robot {
+
13class can_motor : public base_motor {
14public:
24 can_motor(robot::types::motorid_t motor, bool hasPosSensor, can::deviceserial_t serial,
@@ -114,6 +120,7 @@
44 double negative_scale;
45 void ensureMotorMode(robot::types::motorid_t motor, can::motor::motormode_t mode);
46}; // class can_motor
+
47} // namespace robot
power
_Tp power(_Tp __x, _Integer __n, _MonoidOperation __monoid_op)
robot::base_motor
An abstract motor class.
Definition base_motor.h:15
@@ -132,7 +139,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/classAR_1_1Detector-members.html b/classAR_1_1Detector-members.html index 130b10c2d..5e932a239 100644 --- a/classAR_1_1Detector-members.html +++ b/classAR_1_1Detector-members.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Member List @@ -37,7 +37,7 @@ - + +
19bool almostEqual(double a, double b, double threshold = 1e-6);
20
27template <typename K, typename V>
+
28std::unordered_set<K> keySet(const std::unordered_map<K, V>& input) {
29 std::unordered_set<K> output;
30 std::transform(input.begin(), input.end(), std::inserter(output, output.end()),
31 [](auto pair) { return pair.first; });
32 return output;
33}
+
34
+
47template <typename T> std::string to_string(const T& val) {
48 return std::to_string(val);
49}
+
50
54frozen::string freezeStr(const std::string& str);
55
@@ -130,7 +139,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/data_8h_source.html b/data_8h_source.html index 9e733d8b1..6b8df82e8 100644 --- a/data_8h_source.html +++ b/data_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/world_interface/data.h Source File @@ -37,7 +37,7 @@ - + +
42using CameraFrame = std::pair<cv::Mat, uint32_t>;
44using CameraID = std::string;
45
+
47enum class indication_t {
48 off,
49 autonomous,
50 teleop,
51 arrivedAtDest
52};
+
53
+
55enum class motorid_t {
56 frontLeftWheel,
57 frontRightWheel,
@@ -136,7 +144,9 @@
65 hand,
66 activeSuspension
67};
+
68
+
70enum class mountedperipheral_t {
71 none,
72 arm,
@@ -144,6 +154,7 @@
74 scienceStation,
75 lidar
76};
+
77
78enum class jointid_t {
79 armBase,
@@ -173,6 +184,7 @@
103 {"ikForward", jointid_t::ikForward},
104 {"ikUp", jointid_t::ikUp}});
105
+
111template <typename T> class DataPoint {
112public:
116 DataPoint() : datapoint() {}
@@ -181,43 +193,59 @@
124
131 DataPoint(datatime_t time, T data) : datapoint({time, data}) {}
132
+
139 operator T() const {
140 return getData();
141 }
+
142
+
148 operator bool() const {
149 return isValid();
150 }
+
151
+
159 bool isFresh(std::chrono::milliseconds duration) const {
160 return isValid() && dataclock::now() - duration <= getTime();
161 }
+
162
+
168 bool isValid() const {
169 return datapoint.has_value();
170 }
+
171
+
178 datatime_t getTime() const {
179 return datapoint.value().first;
180 }
+
181
+
188 T getData() const {
189 return datapoint.value().second;
190 }
+
191
+
199 T getDataOrElse(T defaultData) {
200 return isValid() ? getData() : defaultData;
201 }
+
202
203private:
207 std::optional<std::pair<datatime_t, T>> datapoint;
208};
+
209
213constexpr size_t N_LIMIT_SWITCH = 8;
214
215constexpr int LIMIT_SWITCH_LIM_MIN_IDX = 0;
216constexpr int LIMIT_SWITCH_LIM_MAX_IDX = 1;
217
+
221class LimitSwitchData {
222public:
231 LimitSwitchData(unsigned long long data);
@@ -235,6 +263,7 @@
278private:
279 std::bitset<N_LIMIT_SWITCH> data;
280};
+
281
282} // namespace robot::types
283
@@ -282,7 +311,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/deprecated.html b/deprecated.html index 5ec478e91..eca838a27 100644 --- a/deprecated.html +++ b/deprecated.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Deprecated List @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/doxygen.css b/doxygen.css index 0caa19b27..009a9b554 100644 --- a/doxygen.css +++ b/doxygen.css @@ -1,4 +1,4 @@ -/* The standard CSS for doxygen 1.9.7*/ +/* The standard CSS for doxygen 1.9.8*/ html { /* page base colors */ @@ -152,6 +152,11 @@ html { --tooltip-declaration-color: #006318; --tooltip-link-color: #4665A2; --tooltip-shadow: 1px 1px 7px gray; +--fold-line-color: #808080; +--fold-minus-image: url('minus.svg'); +--fold-plus-image: url('plus.svg'); +--fold-minus-image-relpath: url('../../minus.svg'); +--fold-plus-image-relpath: url('../../plus.svg'); /** font-family */ --font-family-normal: Roboto,sans-serif; @@ -298,8 +303,8 @@ html { --code-char-literal-color: #00E0F0; --code-xml-cdata-color: #C9D1D9; --code-vhdl-digit-color: #FF00FF; ---code-vhdl-char-color: #000000; ---code-vhdl-keyword-color: #700070; +--code-vhdl-char-color: #C0C0C0; +--code-vhdl-keyword-color: #CF53C9; --code-vhdl-logic-color: #FF0000; --code-link-color: #79C0FF; --code-external-link-color: #79C0FF; @@ -320,6 +325,11 @@ html { --tooltip-declaration-color: #20C348; --tooltip-link-color: #79C0FF; --tooltip-shadow: none; +--fold-line-color: #808080; +--fold-minus-image: url('minusd.svg'); +--fold-plus-image: url('plusd.svg'); +--fold-minus-image-relpath: url('../../minusd.svg'); +--fold-plus-image-relpath: url('../../plusd.svg'); /** font-family */ --font-family-normal: Roboto,sans-serif; @@ -481,6 +491,12 @@ div.qindex{ color: var(--index-separator-color); } +#main-menu a:focus { + outline: auto; + z-index: 10; + position: relative; +} + dt.alphachar{ font-size: 180%; font-weight: bold; @@ -679,6 +695,18 @@ div.line.glow { box-shadow: 0 0 10px var(--glow-color); } +span.fold { + margin-left: 5px; + margin-right: 1px; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; + display: inline-block; + width: 12px; + height: 12px; + background-repeat:no-repeat; + background-position:center; +} span.lineno { padding-right: 4px; diff --git a/dynsections.js b/dynsections.js index f579fbf3e..b73c82889 100644 --- a/dynsections.js +++ b/dynsections.js @@ -120,4 +120,73 @@ function toggleInherit(id) $(img).attr('src',src.substring(0,src.length-10)+'open.png'); } } + +var opened=true; +// in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes +var plusImg = [ "var(--fold-plus-image)", "var(--fold-plus-image-relpath)" ]; +var minusImg = [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ]; + +// toggle all folding blocks +function codefold_toggle_all(relPath) { + if (opened) { + $('#fold_all').css('background-image',plusImg[relPath]); + $('div[id^=foldopen]').hide(); + $('div[id^=foldclosed]').show(); + } else { + $('#fold_all').css('background-image',minusImg[relPath]); + $('div[id^=foldopen]').show(); + $('div[id^=foldclosed]').hide(); + } + opened=!opened; +} + +// toggle single folding block +function codefold_toggle(id) { + $('#foldopen'+id).toggle(); + $('#foldclosed'+id).toggle(); +} +function init_codefold(relPath) { + $('span[class=lineno]').css( + {'padding-right':'4px', + 'margin-right':'2px', + 'display':'inline-block', + 'width':'54px', + 'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%' + }); + // add global toggle to first line + $('span[class=lineno]:first').append(''); + // add vertical lines to other rows + $('span[class=lineno]').not(':eq(0)').append(''); + // add toggle controls to lines with fold divs + $('div[class=foldopen]').each(function() { + // extract specific id to use + var id = $(this).attr('id').replace('foldopen',''); + // extract start and end foldable fragment attributes + var start = $(this).attr('data-start'); + var end = $(this).attr('data-end'); + // replace normal fold span with controls for the first line of a foldable fragment + $(this).find('span[class=fold]:first').replaceWith(''); + // append div for folded (closed) representation + $(this).after(''); + // extract the first line from the "open" section to represent closed content + var line = $(this).children().first().clone(); + // remove any glow that might still be active on the original line + $(line).removeClass('glow'); + if (start) { + // if line already ends with a start marker (e.g. trailing {), remove it + $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),'')); + } + // replace minus with plus symbol + $(line).find('span[class=fold]').css('background-image',plusImg[relPath]); + // append ellipsis + $(line).append(' '+start+'…'+end); + // insert constructed line into closed div + $('#foldclosed'+id).html(line); + }); +} + /* @license-end */ diff --git a/encoder_8hpp_source.html b/encoder_8hpp_source.html index 7c7336a2b..38fec6e25 100644 --- a/encoder_8hpp_source.html +++ b/encoder_8hpp_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/video/encoder.hpp Source File @@ -37,7 +37,7 @@ - + +
11
12// simplified version of the x264_nal_t struct containing only the necessary fields for
13// encoding
+
14typedef struct x264_nal_t_simple {
15 /* Size of payload (including any padding) in bytes. */
16 int i_payload;
@@ -105,7 +111,9 @@
19 * This size is the size used in mp4/similar muxing; it is equal to i_payload-4 */
20 uint8_t* p_payload;
21} x264_nal_t_simple;
+
22
+
23class Encoder {
24public:
25 Encoder(){};
@@ -116,6 +124,7 @@
30private:
31 std::shared_ptr<EncoderImpl> impl;
32};
+
33
34} // namespace h264encoder
memory
@@ -128,7 +137,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/factors_8h_source.html b/factors_8h_source.html index cfdfb0b84..834817517 100644 --- a/factors_8h_source.html +++ b/factors_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/pose_graph/factors.h Source File @@ -37,7 +37,7 @@ - + +
10
11template <int D> using covariance = Eigen::Matrix<double, D, D>;
12
+
13template <int D> class Factor : public AbstractFactor {
14public:
15 const covariance<D> _sigma_inv;
@@ -121,7 +127,9 @@
35 return j * _sigma_inv * j.transpose();
36 }
37};
+
38
+
39class OdomFactor : public Factor<1> {
40 int _idx1, _idx2;
41
@@ -131,7 +139,9 @@
45 virtual jacobian<1> jf(const values& x);
46 virtual bool shiftIndices(int poseSize, int firstPoseIdx);
47};
+
48
+
49class GPSFactor : public Factor<1> {
50 int _idx;
51
@@ -141,7 +151,9 @@
55 virtual jacobian<1> jf(const values& x);
56 virtual bool shiftIndices(int poseSize, int firstPoseIdx);
57};
+
58
+
59class LandmarkFactor2D : public Factor<2> {
60 int _lmPose, _sensorPose;
61
@@ -152,7 +164,9 @@
66 virtual jacobian<2> jf(const values& x);
67 virtual bool shiftIndices(int poseSize, int firstPoseIdx);
68};
+
69
+
70class OdomFactor2D : public Factor<3> {
71 int _pose2, _pose1;
72
@@ -162,6 +176,7 @@
76 virtual jacobian<3> jf(const values& x);
77 virtual bool shiftIndices(int poseSize, int firstPoseIdx);
78};
+
79
80} // namespace filters::pose_graph
Eigen::DenseBase::transpose
TransposeReturnType transpose()
@@ -175,7 +190,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/files.html b/files.html index f352d82db..276dcf16b 100644 --- a/files.html +++ b/files.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): File List @@ -37,7 +37,7 @@ - + +
6
7namespace filters::pose_graph {
8
+
9class FriendlyGraph {
10private:
11 int _num_landmarks;
@@ -152,6 +158,7 @@
66 navtypes::trajectory_t getSmoothedTrajectory();
67 int getMaxNumPoses() const;
68};
+
69
70} // namespace filters::pose_graph
std::vector
@@ -161,7 +168,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/functions.html b/functions.html index 26cf7a7b6..1f0457b34 100644 --- a/functions.html +++ b/functions.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Class Members @@ -37,7 +37,7 @@ - + +
2
3#include "../navtypes.h"
4
+
9class GPSDatum {
10public:
11 static const GPSDatum WGS84;
@@ -106,7 +112,9 @@
34 const double a;
35 const double b;
36};
+
37
+
43class GPSToMetersConverter {
44public:
51 GPSToMetersConverter(const GPSDatum& datum, const navtypes::gpscoords_t& origin);
@@ -125,6 +133,7 @@
74 double metersPerDegLat;
75 double metersPerDegLon;
76};
+
GPSDatum
A GPS datum that specifies the reference ellipsoid for use in GPS calculations.
Definition gps_util.h:9
GPSDatum::getFlattening
double getFlattening() const
Get the flattening parameter of the reference ellipsoid.
Definition gps_util.cpp:32
GPSDatum::getSquareEccentricity
double getSquareEccentricity() const
Get the square of the (first) eccentricity of the ellipsoid.
Definition gps_util.cpp:36
@@ -140,7 +149,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/graph_8h_source.html b/graph_8h_source.html index ec91e0632..9fb664699 100644 --- a/graph_8h_source.html +++ b/graph_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/filters/pose_graph/graph.h Source File @@ -37,7 +37,7 @@ - + +
9using values = Eigen::Matrix<double, Eigen::Dynamic, 1>;
10using hessian = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>;
11
+
12class AbstractFactor {
13public:
14 int id;
@@ -108,7 +114,9 @@
22 // If this returns false, the factor should be removed from the graph.
23 virtual bool shiftIndices(int poseSize, int firstPoseIdx) = 0;
24};
+
25
+
26class Graph {
27private:
28 values _x0;
@@ -131,6 +139,7 @@
45 void shiftIndices(int poseSize, int firstPoseIdx);
46 void deleteFactor(int id);
47};
+
48
49} // namespace filters::pose_graph
vector
@@ -141,7 +150,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/graph_legend.html b/graph_legend.html index 846098e02..2475c0ff1 100644 --- a/graph_legend.html +++ b/graph_legend.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Graph Legend @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/log_8h_source.html b/log_8h_source.html index 082c8370d..d72531c8a 100644 --- a/log_8h_source.html +++ b/log_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/log.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/math_8h_source.html b/math_8h_source.html index 731bb1b1c..de455b8c1 100644 --- a/math_8h_source.html +++ b/math_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/utils/math.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/md_StyleGuide.html b/md_StyleGuide.html index 44651dad2..fc12d4f2a 100644 --- a/md_StyleGuide.html +++ b/md_StyleGuide.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Style Guide @@ -37,7 +37,7 @@ - + +
6
7namespace navtypes {
8
+
10struct gpscoords_t {
12 double lat;
14 double lon;
15};
+
16
17/* @brief Euler angles to represent orientation. Rotation ordering is XYZ extrinsic
18 * rotations.
19 *
20 * @see https://en.wikipedia.org/wiki/Euler_angles#Tait%E2%80%93Bryan_angles
21 */
+
22struct eulerangles_t {
23 double roll;
24 double pitch;
25 double yaw;
26};
+
27
28/* Obstacles are specifed as a list of 2D vertices. Must be convex.
29 * Do not repeat the starting vertex at the end. */
@@ -129,17 +138,21 @@
46using points_t = std::vector<point_t>;
47using traj_points_t = std::vector<points_t>; // points_t for each time along a trajectory
48
+
49struct URCLeg {
50 int left_post_id;
51 int right_post_id; // This will be -1 for legs that are just single posts
52 point_t approx_GPS;
53};
+
54
+
55struct URCLegGPS {
56 int left_post_id;
57 int right_post_id;
58 gpscoords_t gps;
59};
+
60
61} // namespace navtypes
vector
@@ -155,7 +168,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/pages.html b/pages.html index 459385687..d1c66c54d 100644 --- a/pages.html +++ b/pages.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Related Pages @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/plus.svg b/plus.svg new file mode 100644 index 000000000..075201655 --- /dev/null +++ b/plus.svg @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/plusd.svg b/plusd.svg new file mode 100644 index 000000000..0c65bfe94 --- /dev/null +++ b/plusd.svg @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/random_8h_source.html b/random_8h_source.html index 7a296f0d0..e1ea496e9 100644 --- a/random_8h_source.html +++ b/random_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/utils/random.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/read__hokuyo__lidar_8h_source.html b/read__hokuyo__lidar_8h_source.html index c7bd45ce7..0d5c5b161 100644 --- a/read__hokuyo__lidar_8h_source.html +++ b/read__hokuyo__lidar_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/read_hokuyo_lidar.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/read__landmarks_8h_source.html b/read__landmarks_8h_source.html index e18ab7ef2..987110a1d 100644 --- a/read__landmarks_8h_source.html +++ b/read__landmarks_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/ar/read_landmarks.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/read__rp__lidar_8h_source.html b/read__rp__lidar_8h_source.html index 1d706352e..27cf61c17 100644 --- a/read__rp__lidar_8h_source.html +++ b/read__rp__lidar_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/lidar/read_rp_lidar.h Source File @@ -37,7 +37,7 @@ - + +
14
18robot::types::DataPoint<navtypes::points_t> readLidar();
19
+
23struct Polar2D {
24 double r, theta;
25 double asCartesianX() {
@@ -106,6 +112,7 @@
29 return r * sin(theta);
30 }
31};
+
32
33}
robot::types::DataPoint
Represents data measured using a sensor at a given time.
Definition data.h:111
@@ -115,7 +122,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/read__usb__gps_8h_source.html b/read__usb__gps_8h_source.html index 72fac055c..349ba4ca5 100644 --- a/read__usb__gps_8h_source.html +++ b/read__usb__gps_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/gps/usb_gps/read_usb_gps.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/real__world__constants_8h_source.html b/real__world__constants_8h_source.html index 85a4663d8..bb8e673f6 100644 --- a/real__world__constants_8h_source.html +++ b/real__world__constants_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/world_interface/real_world_constants.h Source File @@ -37,7 +37,7 @@ - + +
16
17using types::motorid_t;
18
+
20struct pidcoef_t {
21 int32_t kP, kI, kD;
22};
+
23
24// TODO: measure to see optimal telemetry period
-
26constexpr std::chrono::milliseconds TELEM_PERIOD(50);
+
26constexpr std::chrono::milliseconds TELEM_PERIOD(50);
27
29constexpr auto pidMotors =
30 frozen::make_unordered_set<motorid_t>({motorid_t::shoulder, motorid_t::elbow});
31
+
39struct potparams_t {
41 uint16_t adc_lo;
43 int32_t mdeg_lo;
45 uint16_t adc_hi;
47 int32_t mdeg_hi;
48};
+
49
+
50struct encparams_t {
52 bool isInverted;
54 int ppjr;
@@ -126,6 +136,7 @@
58 int limitSwitchHigh;
60 double zeroCalibrationPower;
61};
+
62
63// clang-format off
64constexpr auto encMotors = frozen::make_unordered_map<motorid_t, encparams_t>({
@@ -228,7 +239,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/rospub_8h_source.html b/rospub_8h_source.html index 0dcf03785..e9a4d703e 100644 --- a/rospub_8h_source.html +++ b/rospub_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/rospub.h Source File @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/scheduler_8h_source.html b/scheduler_8h_source.html index 1f7e5b060..a4ab4d321 100644 --- a/scheduler_8h_source.html +++ b/scheduler_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/utils/scheduler.h Source File @@ -37,7 +37,7 @@ - + +
16template <typename Clock> void notifyScheduler(PeriodicScheduler<Clock>& scheduler);
17}
18
+
27template <typename Clock = std::chrono::steady_clock> class PeriodicScheduler {
28public:
32 using eventid_t = uint64_t;
33
+
37 PeriodicScheduler()
38 : newEventAdded(false), quitting(false), nextID(0),
39 thread(std::bind(&PeriodicScheduler::threadFn, this)) {}
+
40
41 PeriodicScheduler(const PeriodicScheduler&) = delete;
42
+
46 ~PeriodicScheduler() {
47 {
48 std::unique_lock lock(scheduleMutex);
@@ -122,21 +131,27 @@
53 scheduleCV.notify_one();
54 thread.join();
55 }
+
56
57 PeriodicScheduler& operator=(const PeriodicScheduler&) = delete;
58
+
64 void clear() {
65 std::unique_lock lock(scheduleMutex);
66 schedule = decltype(schedule)();
67 toRemove.clear();
68 nextID = 0;
69 }
+
70
+
79 void removeEvent(eventid_t id) {
80 std::unique_lock lock(scheduleMutex);
81 toRemove.insert(id);
82 }
+
83
+
94 eventid_t scheduleEvent(std::chrono::milliseconds period,
95 const std::function<void()>& fn) {
96 eventid_t id;
@@ -150,6 +165,7 @@
104 scheduleCV.notify_one();
105 return id;
106 }
+
107
108private:
109 friend void util::impl::notifyScheduler<>(PeriodicScheduler&);
@@ -205,6 +221,7 @@
165 std::condition_variable scheduleCV;
166 std::unordered_set<eventid_t> toRemove;
167};
+
168
169namespace impl {
170
@@ -256,7 +273,7 @@
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6#include <nlohmann/json.hpp>
7
12namespace robot {
+
13class sim_motor : public base_motor {
14public:
23 sim_motor(robot::types::motorid_t motor, bool hasPosSensor, const std::string& name,
@@ -108,6 +114,7 @@
34 std::string protocol_path;
35 void sendJSON(const nlohmann::json& obj);
36}; // class sim_motor
+
37} // namespace robot
power
_Tp power(_Tp __x, _Integer __n, _MonoidOperation __monoid_op)
std::string
_GLIBCXX_END_NAMESPACE_CXX11 typedef basic_string< char > string
@@ -124,7 +131,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/structNode-members.html b/structNode-members.html index fa63210a1..9dbe12955 100644 --- a/structNode-members.html +++ b/structNode-members.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): Member List @@ -37,7 +37,7 @@ - + +
6
7namespace util {
8
+
17class latch {
18public:
24 latch(std::size_t count);
@@ -103,16 +109,20 @@
33 void wait() const;
34
41 template <typename Rep, typename Period>
+
42 bool wait_for(const std::chrono::duration<Rep, Period>& dur) const {
43 std::unique_lock lock(mutex);
44 return cv.wait_for(lock, dur, [&]() { return count <= 0; });
45 }
+
46
53 template <typename Clock, typename Duration>
+
54 bool wait_until(const std::chrono::time_point<Clock, Duration>& tp) const {
55 std::unique_lock lock(mutex);
56 return cv.wait_until(lock, tp, [&]() { return count <= 0; });
57 }
+
58
66 void count_down(std::size_t n = 1);
67
@@ -121,6 +131,7 @@
70 mutable std::mutex mutex;
71 mutable std::condition_variable cv;
72};
+
73
74} // namespace util
chrono
@@ -143,7 +154,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/time_8h_source.html b/time_8h_source.html index 4d2752728..c4567a4b7 100644 --- a/time_8h_source.html +++ b/time_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/utils/time.h Source File @@ -37,7 +37,7 @@ - + +
7using dseconds = std::chrono::duration<double, std::chrono::seconds::period>;
8
17template <typename Rep, typename Period>
+
18double durationToSec(std::chrono::duration<Rep, Period> dur) {
19 return std::chrono::duration_cast<dseconds>(dur).count();
20}
+
21
22}
chrono
@@ -105,7 +112,7 @@
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diff --git a/modules.html b/topics.html similarity index 91% rename from modules.html rename to topics.html index d19af0208..08e6bb282 100644 --- a/modules.html +++ b/topics.html @@ -3,9 +3,9 @@ - + -Resurgence (PY2022): Modules +Resurgence (PY2022): Topics @@ -37,7 +37,7 @@ - + +
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8
diff --git a/world__interface_8h_source.html b/world__interface_8h_source.html index 77288f34c..b18e0b058 100644 --- a/world__interface_8h_source.html +++ b/world__interface_8h_source.html @@ -3,7 +3,7 @@ - + Resurgence (PY2022): src/world_interface/world_interface.h Source File @@ -37,7 +37,7 @@ - + +
280
292template <unsigned long int N>
293types::DataPoint<navtypes::Vectord<N>>
+
294getMotorPositionsRad(const std::array<types::motorid_t, N>& motors) {
295 navtypes::Vectord<N> motorPositions;
296 std::optional<types::datatime_t> timestamp;
@@ -201,6 +207,7 @@
309 }
310 return types::DataPoint<navtypes::Vectord<N>>(timestamp.value(), motorPositions);
311}
+
312
313// TODO: document
314void zeroJoint(robot::types::jointid_t joint);
@@ -264,7 +271,7 @@
-Generated by doxygen 1.9.7 +Generated by doxygen 1.9.8