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)

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Detailed Description

A C library for creating robot simulations

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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   )     ((r) * 180.0 / M_PI)

Convert radians to degrees.

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

Convert degrees to radians.

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

Normalize angle to domain -pi, pi.

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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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