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libstage


Modules

 Utilities
 Defaults
 Worlds
 Models
 Basic model

Defines

#define TRUE   1
#define FALSE   0
#define MILLION   1e6
#define BILLION   1e9
#define M_PI   3.14159265358979323846
#define TWOPI   (2.0*M_PI)
#define RTOD(r)   ((r) * 180.0 / M_PI)
#define DTOR(d)   ((d) * M_PI / 180.0)
#define NORMALIZE(z)   atan2(sin(z), cos(z))

Functions

stg_msec_t stg_timenow (void)
int stg_init (int argc, char **argv)
const char * stg_get_version_string (void)
int stg_quit_test (void)
void stg_quit_request (void)
void stg_err (const char *err)

Detailed Description

A C library for creating robot simulations

Define Documentation

#define TRUE   1
 

#define FALSE   0
 

#define MILLION   1e6
 

#define BILLION   1e9
 

#define M_PI   3.14159265358979323846
 

#define TWOPI   (2.0*M_PI)
 

#define RTOD  )     ((r) * 180.0 / M_PI)
 

Convert radians to degrees.

#define DTOR  )     ((d) * M_PI / 180.0)
 

Convert degrees to radians.

#define NORMALIZE  )     atan2(sin(z), cos(z))
 

Normalize angle to domain -pi, pi.


Function Documentation

stg_msec_t stg_timenow void   ) 
 

returns the real (wall-clock) time in seconds

int stg_init int  argc,
char **  argv
 

initialize the stage library - optionally pass in the arguments to main, so Stage or rtk or gtk or xlib can read the options.

const char* stg_get_version_string void   ) 
 

Get a string identifying the version of stage. The string is generated by autoconf

int stg_quit_test void   ) 
 

if stage wants to quit, this will return non-zero

void stg_quit_request void   ) 
 

set stage's quit flag

void stg_err const char *  err  ) 
 

report an error


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