mrpt::utils Namespace Reference

Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL. More...

Namespaces
namespace	metaprogramming
	A set of utility objects for metaprogramming with STL algorithms.
namespace	net
	A set of useful routines for networking.
Classes
struct	TTypeName< mrpt::math::CArrayNumeric< T, N > >
struct	TTypeName< mrpt::math::CArrayDouble< N > >
struct	TTypeName< mrpt::math::CArrayFloat< N > >
struct	TTypeName< mrpt::math::CMatrixFixedNumeric< T, N, M > >
struct	TTypeName< mrpt::math::CMatrixTemplateNumeric< T > >
class	bimap
	A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std::map's, one for keys and another for values. More...
class	CCanvas
	This virtual class defines the interface of any object accepting drawing primitives on it. More...
class	CClientTCPSocket
	A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing objects as well as generic read/write methods. More...
class	CConfigFile
	This class allows loading and storing values and vectors of different types from ".ini" files easily. More...
class	CConfigFileBase
	This class allows loading and storing values and vectors of different types from a configuration text, which can be implemented as a ".ini" file, a memory-stored string, etc. More...
class	CConfigFileMemory
	This class implements a config file-like interface over a memory-stored string list. More...
class	CConsoleRedirector
	By creating an object of this class, all the output to std::cout (and std::cerr) will be redirected to a text file, and optionally also shown on the console. More...
class	CDebugOutputCapable
	This base class provides a common printf-like method to send debug information to std::cout, with the purpose of allowing its redirection to other streams if desired. More...
class	CDynamicGrid
	A 2D grid of dynamic size which stores any kind of data at each cell. More...
class	CEnhancedMetaFile
	This class represents a Windows Enhanced Meta File (EMF) for generating and saving graphics. More...
class	CFileGZInputStream
	Transparently opens a compressed "gz" file and reads uncompressed data from it. More...
class	CFileInputStream
	This CStream derived class allow using a file as a read-only, binary stream. More...
class	CFileOutputStream
	This CStream derived class allow using a file as a write-only, binary stream. More...
class	CFileStream
	This CStream derived class allow using a file as a read/write binary stream, creating it if the file didn't exist. More...
class	CImage
	A class for storing images as grayscale or RGB bitmaps. More...
class	CImageFloat
	In this class a grayscale image can be stored with float-type pixels. More...
class	circular_buffer
	A circular buffer of fixed size (defined at construction-time), implemented with a std::vector as the underlying storage. More...
class	CListOfClasses
	A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the mechanism of CSerializable classes. More...
class	CLoadableOptions
	This is a virtual base class for sets of options than can be loaded from and/or saved to configuration plain-text files. More...
class	CLog
	A decorator of CStringList special for keeping logs. More...
class	CMappedImage
	This class encapsulates a MRPT Image and allows the sampling of individual pixels with sub-pixel accuracy and with a change of coordinates (eg, meters). More...
class	CMemoryChunk
	A memory buffer (implements CStream) which can be itself serialized. More...
class	CMemoryStream
	This CStream derived class allow using a memory buffer as a CStream. More...
class	CMessage
	A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object. More...
struct	TPropertyValueIDTriplet
	Internal triplet for each property in utils::CMHPropertiesValuesList. More...
class	CMHPropertiesValuesList
	An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object (Multi-hypotheses version). More...
class	CObjectPtr
	A smart pointer to a CObject object. More...
struct	TRuntimeClassId
	A structure that holds runtime class type information. More...
struct	CLASSINIT
	Auxiliary structure used for CObject-based RTTI. More...
class	CObject
	The virtual base class of all MRPT classes with a unified RTTI system. More...
class	CObservable
	Inherit from this class for those objects capable of being observed by a CObserver class. More...
class	CObserver
	Inherit from this class to get notified about events from any CObservable object after subscribing to it. More...
class	CProbabilityDensityFunction
	A generic template for probability density distributions (PDFs). More...
class	CPropertiesValuesList
	An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object. More...
class	CReferencedMemBlock
	Represents a memory block (via "void*") that can be shared between several objects through copy operator (=). More...
class	CRobotSimulator
	This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile robot, including odometry errors and dynamics limitations. More...
class	CSerializable
	The virtual base class which provides a unified interface for all persistent objects in MRPT. More...
struct	TTypeName
	A template to obtain the type of its argument as a string at compile time. More...
struct	TTypeName< std::pair< T1, T2 > >
class	CServerTCPSocket
	A TCP socket that can be wait for client connections to enter. More...
class	CSimpleDatabaseTable
	This class implements the tables of databases. More...
class	CSimpleDatabase
	This class impements a very simple database system. More...
class	CStartUpClassesRegister
	A helper class that automatically register at start up a custom function to register all the CObject-derived classes in a given MRPT library or user application. More...
class	CStdOutStream
	This CStdOutStream derived class allow printing to standard out, normally the console text output. More...
class	CStream
	This base class is used to provide a unified interface to files,memory buffers,..Please see the derived classes. More...
class	CStringList
	A class for storing a list of text lines. More...
class	CThreadSafeQueue
	A thread-safe template queue for object passing between threads, with objects being passed being "T*". More...
class	CTicTac
	This class implements a high-performance stopwatch. More...
class	CTimeLogger
	A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X), among other stats. More...
class	CTypeSelector
	This class represents a std::string derived class which is also CSerializable. More...
class	CUncopiable
	The base class of classes that cannot be copied: compile-time errors will be issued on any copy operation. More...
class	CMRPTException
	The base for MRPT-especific exceptions. More...
class	CExceptionExternalImageNotFound
	Used in mrpt::utils::CImage. More...
class	CExceptionEOF
	Used in mrpt::utils::CStream. More...
class	list_searchable
	This class implements a STL container with features of both, a std::set and a std::list. More...
class	mrptEvent
	The basic event type for the observer-observable pattern in MRPT. More...
class	mrptEventOnDestroy
	An event sent by any CObservable object (automatically) just before being destroyed and telling its observers to unsubscribe. More...
struct	safe_ptr_basic
	A wrapper class for pointers that can be safely copied with "=" operator without problems. More...
struct	safe_ptr
	A wrapper class for pointers that can be safely copied with "=" operator without problems. More...
struct	non_copiable_ptr_basic
	A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...
struct	non_copiable_ptr
	A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...
struct	copiable_NULL_ptr_basic
	A wrapper class for pointers that, if copied with the "=" operator, should be set to NULL in the copy. More...
struct	copiable_NULL_ptr
	A wrapper class for pointers that, if copied with the "=" operator, should be set to NULL in the new copy. More...
struct	ci_less
	A case-insensitive comparator struct for usage within STL containers, eg: map<string,string,ci_less>. More...
class	TCamera
	Structure to hold the parameters of a pinhole camera model. More...
struct	TMatchingPair
	A structure for holding correspondences between two sets of points or points-like entities in 2D or 3D. More...
class	TMatchingPairList
	A list of TMatchingPair. More...
struct	TColor
	A RGB color - 8bit. More...
struct	TColorf
	A RGB color - floats in the range [0,1]. More...
struct	TPixelCoordf
	A pair (x,y) of pixel coordinates (subpixel resolution). More...
struct	TPixelCoord
	A pair (x,y) of pixel coordinates (integer resolution). More...
struct	TParameters
	For usage when passing a dynamic number of (numeric) arguments to a function, by name. More...
struct	CProfilerProxy
Typedefs
typedef CCanvas	CMRPTCanvas
	Deprecated name.
typedef std::ios_base::openmode	TFileOpenModes
	File open modes are used in CFileStream Posible values are: fomRead fomWrite (creates the file if it didn't exist, otherwise truncates it).
typedef CImage	CMRPTImage
	Deprecated name.
typedef CImageFloat	CMRPTImageFloat
	Deprecated name.
typedef CThreadSafeQueue < CMessage >	CMessageQueue
	A thread-safe class for message passing between threads.
typedef safe_ptr< TRuntimeClassId >	TRuntimeClassIdPtr
	A wrapper class for a "TRuntimeClassId *", well-defined with respect to copy operators and constructors.
typedef safe_ptr_basic< void >	void_ptr
typedef non_copiable_ptr_basic < void >	void_ptr_noncopy
typedef TMatchingPair *	TMatchingPairPtr
typedef void(*	TFunctor_noRet_1inputs )(const void *)
	A generic functor type for functions accepting 1 input arguments and returning nothing.
typedef void(*	TFunctor_noRet_2inputs )(const void , const void )
	A generic functor type for functions accepting 2 input arguments and returning nothing.
typedef void(*	TFunctor_noRet_3inputs )(const void , const void , const void *)
	A generic functor type for functions accepting 3 input arguments and returning nothing.
typedef double(*	TFunctor_retDouble_1inputs )(const void *)
	A generic functor type for functions accepting 1 input arguments and returning a double value.
typedef double(*	TFunctor_retDouble_2inputs )(const void , const void )
	A generic functor type for functions accepting 2 input arguments and returning a double value.
typedef double(*	TFunctor_retDouble_3inputs )(const void , const void , const void *)
	A generic functor type for functions accepting 3 input arguments and returning a double value.
typedef void(*	TFunctor_retVecDbl_inpVecDbl )(const vector_double &in, vector_double &out)
	A generic functor type for functions accepting 1 vector and returning 1 vector.
typedef void(*	TFunctor_retVecFlt_inpVecFlt )(const vector_float &in, vector_float &out)
	A generic functor type for functions accepting 1 vector and returning 1 vector.
typedef void(*	TFunctor_retVecInt_inpVecInt )(const vector_int &in, vector_int &out)
	A generic functor type for functions accepting 1 vector and returning 1 vector.
typedef void(*	TFunctor_retVecDbl_inp2VecDbl )(const vector_double &x, const vector_double &y, vector_double &out)
	A generic functor type for functions accepting 2 vectors and returning 1 vector.
typedef void(*	TFunctor_retVecFlt_inp2VecFlt )(const vector_float &x, const vector_float &y, vector_float &out)
	A generic functor type for functions accepting 2 vectors and returning 1 vector.
typedef void(*	TFunctor_retVecInt_inp2VecInt )(const vector_int &x, const vector_int &y, vector_int &out)
	A generic functor type for functions accepting 2 vectors and returning 1 vector.
typedef double(*	TFunctor_retDbl_inp1VecDbl )(const vector_double &in1)
	A generic functor type for functions accepting 1 vector and returning 1 double.
typedef double(*	TFunctor_retDbl_inp2VecDbl )(const vector_double &in1, const vector_double &in2)
	A generic functor type for functions accepting 2 vectors and returning 1 double.
typedef double(*	TFunctor_retDbl_inp3VecDbl )(const vector_double &in1, const vector_double &in2, const vector_double &in3)
	A generic functor type for functions accepting 3 vectors and returning 1 double.
typedef unsigned long	POINTER_TYPE
	For performing type casting from a pointer to its numeric value.
typedef TPixelCoord	TImageSize
	A type for image sizes.
Enumerations
enum	TInterpolationMethod { IMG_INTERP_NN = 0, IMG_INTERP_LINEAR = 1, IMG_INTERP_CUBIC = 2, IMG_INTERP_AREA = 3 }
	Interpolation methods for images. More...
enum	TColormap { cmGRAYSCALE = 0, cmJET }
	Different colormaps. More...
Functions
template<class T >
T	square (const T &x)
	Inline function for the square of a number.
void BASE_IMPEXP	registerClass (const mrpt::utils::TRuntimeClassId *pNewClass)
	Register a class into the MRPT internal list of "CSerializable" descendents.
void BASE_IMPEXP	registerClassCustomName (const char customName, const TRuntimeClassId pNewClass)
	Mostly for internal use within mrpt sources, to handle exceptional cases with multiple serialization names for backward compatibility (CMultiMetricMaps, CImage,.
std::vector< const mrpt::utils::TRuntimeClassId * > BASE_IMPEXP	getAllRegisteredClasses ()
	Returns a list with all the classes registered in the system through mrpt::utils::registerClass.
const TRuntimeClassId BASE_IMPEXP *	findRegisteredClass (const std::string &className)
	Return info about a given class by its name, or NULL if the class is not registered.
void BASE_IMPEXP	hsv2rgb (float h, float s, float v, float &r, float &g, float &b)
	Transform HSV color components to RGB, all of them in the range [0,1].
void BASE_IMPEXP	rgb2hsv (float r, float g, float b, float &h, float &s, float &v)
	Transform RGB color components to HSV, all of them in the range [0,1].
void BASE_IMPEXP	colormap (const TColormap &color_map, const float color_index, float &r, float &g, float &b)
	Transform a float number in the range [0,1] into RGB components.
void BASE_IMPEXP	jet2rgb (const float color_index, float &r, float &g, float &b)
	Computes the RGB color components (range [0,1]) for the corresponding color index in the range [0,1] using the MATLAB 'jet' colormap.
uint16_t BASE_IMPEXP	compute_CRC16 (const std::vector< uint8_t > &data, const uint16_t gen_pol=0x8005)
	Computes the CRC16 checksum of a block of data.
uint16_t BASE_IMPEXP	compute_CRC16 (const uint8_t *data, const size_t len, const uint16_t gen_pol=0x8005)
	Computes the CRC16 checksum of a block of data.
BASE_IMPEXP CStream &	operator<< (CStream &, const char *a)
BASE_IMPEXP CStream &	operator<< (CStream &, const std::string &str)
BASE_IMPEXP CStream &	operator<< (CStream &, const vector_int &a)
BASE_IMPEXP CStream &	operator<< (CStream &, const vector_bool &a)
CStream &	operator<< (CStream &s, const std::vector< float > &a)
CStream &	operator<< (CStream &s, const std::vector< double > &a)
CStream &	operator<< (CStream &s, const std::vector< int8_t > &a)
CStream &	operator<< (CStream &s, const std::vector< int16_t > &a)
CStream &	operator<< (CStream &s, const std::vector< int32_t > &a)
CStream &	operator<< (CStream &s, const std::vector< int64_t > &a)
CStream &	operator<< (CStream &s, const std::vector< uint8_t > &a)
CStream &	operator<< (CStream &s, const std::vector< uint16_t > &a)
CStream &	operator<< (CStream &s, const std::vector< uint32_t > &a)
CStream &	operator<< (CStream &s, const std::vector< size_t > &a)
BASE_IMPEXP CStream &	operator>> (CStream &in, char *a)
BASE_IMPEXP CStream &	operator>> (CStream &in, std::string &str)
BASE_IMPEXP CStream &	operator>> (CStream &in, vector_int &a)
BASE_IMPEXP CStream &	operator>> (CStream &in, vector_bool &a)
BASE_IMPEXP CStream &	operator<< (CStream &, const std::vector< std::string > &)
BASE_IMPEXP CStream &	operator>> (CStream &, std::vector< std::string > &)
CStream &	operator>> (CStream &s, std::vector< float > &a)
CStream &	operator>> (CStream &s, std::vector< double > &a)
CStream &	operator>> (CStream &s, std::vector< int8_t > &a)
CStream &	operator>> (CStream &s, std::vector< int16_t > &a)
CStream &	operator>> (CStream &s, std::vector< int32_t > &a)
CStream &	operator>> (CStream &s, std::vector< int64_t > &a)
CStream &	operator>> (CStream &s, std::vector< uint8_t > &a)
CStream &	operator>> (CStream &s, std::vector< uint16_t > &a)
CStream &	operator>> (CStream &s, std::vector< uint32_t > &a)
CStream &	operator>> (CStream &s, std::vector< size_t > &a)
std::string BASE_IMPEXP	md5 (const std::string str)
	Computes the md5 of a block of data.
	MRPTSTL_SERIALIZABLE_SEQ_CONTAINER (std::vector) MRPTSTL_SERIALIZABLE_SEQ_CONTAINER(std
	Template method to serialize an associative STL container.
template<class T1 , class T2 >
CStream &	operator>> (CStream &in, std::pair< T1, T2 > &obj)
	Template method to deserialize a STL pair.
template<class T , class CONTAINER >
size_t	find_in_vector (const T &value, const CONTAINER &vect)
	Returns the index of the value "T" in the container "vect" (std::vector,std::deque,etc), or string::npos if not found.
template<class CONTAINER >
CONTAINER::iterator	erase_return_next (CONTAINER &cont, typename CONTAINER::iterator &it)
	Calls the standard "erase" method of a STL container, but also returns an iterator to the next element in the container (or end if none).
template<typename T >
std::string	sprintf_vector (const char *fmt, const std::vector< T > &V)
	Generates a string for a vector in the format [A,B,C,.
template<typename T >
void	printf_vector (const char *fmt, const std::vector< T > &V)
	Prints a vector in the format [A,B,C,.
bool BASE_IMPEXP	operator< (const TMatchingPair &a, const TMatchingPair &b)
	A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx.
bool BASE_IMPEXP	operator== (const TMatchingPair &a, const TMatchingPair &b)
	A comparison operator.
bool BASE_IMPEXP	operator== (const TMatchingPairList &a, const TMatchingPairList &b)
	A comparison operator.
int BASE_IMPEXP	run_unittests (int argc, char **argv)
	Run all the unit tests in mrpt::core classes.
double	DEG2RAD (const double x)
	Degrees to radians.
float	DEG2RAD (const float x)
	Degrees to radians.
float	DEG2RAD (const int x)
	Degrees to radians.
double	RAD2DEG (const double x)
	Radians to degrees.
float	RAD2DEG (const float x)
	Radians to degrees.
template<typename T >
int	sign (T x)
	Returns the sign of X as "1" or "-1".
template<typename T >
int	signWithZero (T x)
	Returns the sign of X as "0", "1" or "-1".
template<typename T >
int	round (const T value)
	Returns the closer integer (int) to x.
template<typename T >
long	round_long (const T value)
	Returns the closer integer (long) to x.
template<typename T >
int	fix (T x)
	Rounds toward zero.
template<class R , class P >
R *	getAs (stlplus::smart_ptr_clone< P > &o)
	Utility to get a cast'ed pointer from a smart pointer.
template<class R , class P >
const R *	getAs (const stlplus::smart_ptr_clone< P > &o)
	Utility to get a cast'ed pointer from a smart pointer.
template<class T >
void	reverseBytes (const T &v_in, T &v_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian).
template<typename T , typename K >
void	keep_min (T &var, const K test_val)
	If the second argument is below the first one, set the first argument to this lower value.
template<typename T , typename K >
void	keep_max (T &var, const K test_val)
	If the second argument is above the first one, set the first argument to this higher value.
template<class T >
void	delete_safe (T *&ptr)
	Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL.
Non-streaming serialization functions

std::string BASE_IMPEXP	ObjectToString (const CSerializable *o)
	Used to pass MRPT objects into a CORBA-like object (strings).
void BASE_IMPEXP	StringToObject (const std::string &str, CSerializablePtr &obj)
	Used to pass CORBA-like objects (strings) into a MRPT object.
void BASE_IMPEXP	ObjectToOctetVector (const CSerializable *o, vector_byte &out_vector)
	Converts (serializes) an MRPT object into an array of bytes.
void BASE_IMPEXP	OctetVectorToObject (const vector_byte &in_data, CSerializablePtr &obj)
	Converts back (de-serializes) a sequence of binary data into a MRPT object, without prior information about the object's class.
void BASE_IMPEXP	ObjectToRawString (const CSerializable *o, std::string &out_str)
	Converts (serializes) an MRPT object into an array of bytes within a std::string, without codifying to avoid NULL characters.
void BASE_IMPEXP	RawStringToObject (const std::string &in_str, CSerializablePtr &obj)
	Converts back (de-serializes) a sequence of binary data within a std::string into a MRPT object, without prior information about the object's class.
Variables
class BASE_IMPEXP	CStream
static const TFileOpenModes	fomRead = std::ios_base::in
static const TFileOpenModes	fomWrite = std::ios_base::out \| std::ios_base::trunc
static const TFileOpenModes	fomAppend = std::ios_base::app \| std::ios_base::out
class BASE_IMPEXP	CObject
class BASE_IMPEXP	CSerializable
struct BASE_IMPEXP	CSerializablePtr
Auxiliary stuff for the global profiler used in MRPT_START / MRPT_END macros.

CTimeLogger BASE_IMPEXP	global_profiler
void BASE_IMPEXP	global_profiler_enter (const char *func_name) MRPT_NO_THROWS
void BASE_IMPEXP	global_profiler_leave (const char *func_name) MRPT_NO_THROWS

Detailed Description

Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Typedef Documentation

typedef CThreadSafeQueue<CMessage> mrpt::utils::CMessageQueue

A thread-safe class for message passing between threads.

See also:: CThreadSafeQueue

Definition at line 41 of file CMessageQueue.h.

typedef CCanvas mrpt::utils::CMRPTCanvas

Deprecated name.

Definition at line 334 of file CCanvas.h.

typedef CImage mrpt::utils::CMRPTImage

Deprecated name.

Definition at line 674 of file CImage.h.

typedef CImageFloat mrpt::utils::CMRPTImageFloat

Deprecated name.

Definition at line 200 of file CImageFloat.h.

typedef unsigned long mrpt::utils::POINTER_TYPE

For performing type casting from a pointer to its numeric value.

Definition at line 223 of file types.h.

typedef std::ios_base::openmode mrpt::utils::TFileOpenModes

File open modes are used in CFileStream Posible values are:

fomRead
fomWrite (creates the file if it didn't exist, otherwise truncates it).

fomAppend (creates the file if it didn't exist)

Definition at line 49 of file CFileStream.h.

typedef void(* mrpt::utils::TFunctor_noRet_1inputs)(const void *)

A generic functor type for functions accepting 1 input arguments and returning nothing.

Definition at line 198 of file types.h.

typedef void(* mrpt::utils::TFunctor_noRet_2inputs)(const void *, const void *)

A generic functor type for functions accepting 2 input arguments and returning nothing.

Definition at line 199 of file types.h.

typedef void(* mrpt::utils::TFunctor_noRet_3inputs)(const void *, const void *, const void *)

A generic functor type for functions accepting 3 input arguments and returning nothing.

Definition at line 200 of file types.h.

typedef double(* mrpt::utils::TFunctor_retDbl_inp1VecDbl)(const vector_double &in1)

A generic functor type for functions accepting 1 vector and returning 1 double.

Definition at line 214 of file types.h.

typedef double(* mrpt::utils::TFunctor_retDbl_inp2VecDbl)(const vector_double &in1, const vector_double &in2)

A generic functor type for functions accepting 2 vectors and returning 1 double.

Definition at line 215 of file types.h.

typedef double(* mrpt::utils::TFunctor_retDbl_inp3VecDbl)(const vector_double &in1, const vector_double &in2, const vector_double &in3)

A generic functor type for functions accepting 3 vectors and returning 1 double.

Definition at line 216 of file types.h.

typedef double(* mrpt::utils::TFunctor_retDouble_1inputs)(const void *)

A generic functor type for functions accepting 1 input arguments and returning a double value.

Definition at line 202 of file types.h.

typedef double(* mrpt::utils::TFunctor_retDouble_2inputs)(const void *, const void *)

A generic functor type for functions accepting 2 input arguments and returning a double value.

Definition at line 203 of file types.h.

typedef double(* mrpt::utils::TFunctor_retDouble_3inputs)(const void *, const void *, const void *)

A generic functor type for functions accepting 3 input arguments and returning a double value.

Definition at line 204 of file types.h.

typedef void(* mrpt::utils::TFunctor_retVecDbl_inp2VecDbl)(const vector_double &x, const vector_double &y, vector_double &out)

A generic functor type for functions accepting 2 vectors and returning 1 vector.

Definition at line 210 of file types.h.

typedef void(* mrpt::utils::TFunctor_retVecDbl_inpVecDbl)(const vector_double &in, vector_double &out)

A generic functor type for functions accepting 1 vector and returning 1 vector.

Definition at line 206 of file types.h.

typedef void(* mrpt::utils::TFunctor_retVecFlt_inp2VecFlt)(const vector_float &x, const vector_float &y, vector_float &out)

A generic functor type for functions accepting 2 vectors and returning 1 vector.

Definition at line 211 of file types.h.

typedef void(* mrpt::utils::TFunctor_retVecFlt_inpVecFlt)(const vector_float &in, vector_float &out)

A generic functor type for functions accepting 1 vector and returning 1 vector.

Definition at line 207 of file types.h.

typedef void(* mrpt::utils::TFunctor_retVecInt_inp2VecInt)(const vector_int &x, const vector_int &y, vector_int &out)

A generic functor type for functions accepting 2 vectors and returning 1 vector.

Definition at line 212 of file types.h.

typedef void(* mrpt::utils::TFunctor_retVecInt_inpVecInt)(const vector_int &in, vector_int &out)

A generic functor type for functions accepting 1 vector and returning 1 vector.

Definition at line 208 of file types.h.

typedef TPixelCoord mrpt::utils::TImageSize

A type for image sizes.

Definition at line 270 of file types.h.

typedef TMatchingPair* mrpt::utils::TMatchingPairPtr

Definition at line 66 of file TMatchingPair.h.

typedef safe_ptr<TRuntimeClassId> mrpt::utils::TRuntimeClassIdPtr

A wrapper class for a "TRuntimeClassId *", well-defined with respect to copy operators and constructors.

Definition at line 73 of file CObject.h.

typedef safe_ptr_basic<void> mrpt::utils::void_ptr

Definition at line 219 of file safe_pointers.h.

typedef non_copiable_ptr_basic<void> mrpt::utils::void_ptr_noncopy

Definition at line 220 of file safe_pointers.h.

Enumeration Type Documentation

enum mrpt::utils::TColormap

Different colormaps.

See also:: mrpt::vision::colormap

Enumerator:

cmGRAYSCALE
cmJET

Definition at line 63 of file color_maps.h.

enum mrpt::utils::TInterpolationMethod

Interpolation methods for images.

Used for OpenCV related operations with images, but also with MRPT native classes.

See also:: mrpt::utils::CMappedImage, CImage::scaleImage

Enumerator:

IMG_INTERP_NN
IMG_INTERP_LINEAR
IMG_INTERP_CUBIC
IMG_INTERP_AREA

Definition at line 47 of file CImage.h.

Function Documentation

void BASE_IMPEXP mrpt::utils::colormap	(	const TColormap &	color_map,
		const float	color_index,
		float &	r,
		float &	g,
		float &	b
	)

Transform a float number in the range [0,1] into RGB components.

Different colormaps are available.

uint16_t BASE_IMPEXP mrpt::utils::compute_CRC16	(	const uint8_t *	data,
		const size_t	len,
		const uint16_t	gen_pol = `0x8005`
	)

Computes the CRC16 checksum of a block of data.

uint16_t BASE_IMPEXP mrpt::utils::compute_CRC16	(	const std::vector< uint8_t > &	data,
		const uint16_t	gen_pol = `0x8005`
	)

Computes the CRC16 checksum of a block of data.

float mrpt::utils::DEG2RAD ( const int x ) [inline]

Degrees to radians.

Definition at line 554 of file utils_defs.h.

References M_PIf.

float mrpt::utils::DEG2RAD ( const float x ) [inline]

Degrees to radians.

Definition at line 551 of file utils_defs.h.

References M_PIf.

double mrpt::utils::DEG2RAD ( const double x ) [inline]

Degrees to radians.

Definition at line 548 of file utils_defs.h.

References M_PI.

Referenced by mrpt::poses::CPose3D::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::topography::TDatum10Params::TDatum10Params(), mrpt::topography::TDatum7Params::TDatum7Params(), mrpt::topography::TDatumHelmert2D::TDatumHelmert2D(), mrpt::topography::TDatumHelmert3D::TDatumHelmert3D(), and mrpt::topography::TDatumTransfInterpolation::TDatumTransfInterpolation().

template<class T >

void mrpt::utils::delete_safe ( T *& ptr ) [inline]

Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL.

Definition at line 661 of file utils_defs.h.

Referenced by mrpt::slam::PF_implementation< CRBPFParticleData >::PF_SLAM_implementation_replaceByNewParticleSet().

template<class CONTAINER >

CONTAINER::iterator mrpt::utils::erase_return_next	(	CONTAINER &	cont,
		typename CONTAINER::iterator &	it
	)			`[inline]`

Calls the standard "erase" method of a STL container, but also returns an iterator to the next element in the container (or end if none).

Definition at line 201 of file stl_extensions.h.

template<class T , class CONTAINER >

size_t mrpt::utils::find_in_vector	(	const T &	value,
		const CONTAINER &	vect
	)			`[inline]`

Returns the index of the value "T" in the container "vect" (std::vector,std::deque,etc), or string::npos if not found.

Definition at line 190 of file stl_extensions.h.

References mrpt::math::distance().

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

const TRuntimeClassId BASE_IMPEXP* mrpt::utils::findRegisteredClass ( const std::string & className )

Return info about a given class by its name, or NULL if the class is not registered.

See also:: registerClass, getAllRegisteredClasses

template<typename T >

int mrpt::utils::fix ( T x ) [inline]

Rounds toward zero.

Definition at line 623 of file utils_defs.h.

std::vector<const mrpt::utils::TRuntimeClassId*> BASE_IMPEXP mrpt::utils::getAllRegisteredClasses ( )

Returns a list with all the classes registered in the system through mrpt::utils::registerClass.

See also:: registerClass, findRegisteredClass

template<class R , class P >

const R* mrpt::utils::getAs ( const stlplus::smart_ptr_clone< P > & o ) [inline]

Utility to get a cast'ed pointer from a smart pointer.

Definition at line 636 of file utils_defs.h.

template<class R , class P >

R* mrpt::utils::getAs ( stlplus::smart_ptr_clone< P > & o ) [inline]

Utility to get a cast'ed pointer from a smart pointer.

Definition at line 632 of file utils_defs.h.

void BASE_IMPEXP mrpt::utils::global_profiler_enter ( const char * func_name )

Referenced by mrpt::utils::CProfilerProxy::CProfilerProxy().

void BASE_IMPEXP mrpt::utils::global_profiler_leave ( const char * func_name )

Referenced by mrpt::utils::CProfilerProxy::~CProfilerProxy().

void BASE_IMPEXP mrpt::utils::hsv2rgb	(	float	h,
		float	s,
		float	v,
		float &	r,
		float &	g,
		float &	b
	)

Transform HSV color components to RGB, all of them in the range [0,1].

See also:: rgb2hsv

void BASE_IMPEXP mrpt::utils::jet2rgb	(	const float	color_index,
		float &	r,
		float &	g,
		float &	b
	)

Computes the RGB color components (range [0,1]) for the corresponding color index in the range [0,1] using the MATLAB 'jet' colormap.

See also:: colormap

template<typename T , typename K >

void mrpt::utils::keep_max	(	T &	var,
		const K	test_val
	)			`[inline]`

If the second argument is above the first one, set the first argument to this higher value.

Definition at line 655 of file utils_defs.h.

template<typename T , typename K >

void mrpt::utils::keep_min	(	T &	var,
		const K	test_val
	)			`[inline]`

If the second argument is below the first one, set the first argument to this lower value.

Definition at line 649 of file utils_defs.h.

std::string BASE_IMPEXP mrpt::utils::md5 ( const std::string str )

Computes the md5 of a block of data.

mrpt::utils::MRPTSTL_SERIALIZABLE_SEQ_CONTAINER ( std::vector )

Template method to serialize an associative STL container.

Template method to deserialize an associative STL container Template method to serialize an associative STL container Template method to deserialize an associative STL container Template method to serialize a STL pair

Definition at line 119 of file stl_extensions.h.

References mrpt::utils::TTypeName< T >::get(), and MRPTSTL_SERIALIZABLE_SIMPLE_ASSOC_CONTAINER.

void BASE_IMPEXP mrpt::utils::ObjectToOctetVector	(	const CSerializable *	o,
		vector_byte &	out_vector
	)

Converts (serializes) an MRPT object into an array of bytes.

Parameters:

	o	The object to be serialized.
	out_vector	The vector which at return will contain the data. Size will be set automatically.

See also:: OctetVectorToObject, ObjectToString

void BASE_IMPEXP mrpt::utils::ObjectToRawString	(	const CSerializable *	o,
		std::string &	out_str
	)

Converts (serializes) an MRPT object into an array of bytes within a std::string, without codifying to avoid NULL characters.

This is therefore more efficient than ObjectToString

Parameters:

	o	The object to be serialized.
	out_vector	The string which at return will contain the data. Size will be set automatically.

See also:: RawStringToObject, ObjectToOctetVector

std::string BASE_IMPEXP mrpt::utils::ObjectToString ( const CSerializable * o )

Used to pass MRPT objects into a CORBA-like object (strings).

See doc about "Integration with BABEL".

Parameters:

o

The object to be serialized.

Returns:: The string containing the binay version of object.

See also:: StringToObject, Integration with BABEL

void BASE_IMPEXP mrpt::utils::OctetVectorToObject	(	const vector_byte &	in_data,
		CSerializablePtr &	obj
	)

Converts back (de-serializes) a sequence of binary data into a MRPT object, without prior information about the object's class.

Parameters:

	in_data	The serialized input data representing the object.
	obj	The newly created object will be stored in this smart pointer.

Exceptions:

None

On any internal exception, this function returns a NULL pointer.

See also:: ObjectToOctetVector, StringToObject

bool BASE_IMPEXP mrpt::utils::operator<	(	const TMatchingPair &	a,
		const TMatchingPair &	b
	)

A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx.

BASE_IMPEXP CStream& mrpt::utils::operator<<	(	CStream &	,
		const std::vector< std::string > &
	)

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< size_t > &	a
	)			`[inline]`

Definition at line 214 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< uint32_t > &	a
	)			`[inline]`

Definition at line 211 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< uint16_t > &	a
	)			`[inline]`

Definition at line 210 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< uint8_t > &	a
	)			`[inline]`

Definition at line 209 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< int64_t > &	a
	)			`[inline]`

Definition at line 208 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< int32_t > &	a
	)			`[inline]`

Definition at line 207 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< int16_t > &	a
	)			`[inline]`

Definition at line 206 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< int8_t > &	a
	)			`[inline]`

Definition at line 205 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< double > &	a
	)			`[inline]`

Definition at line 204 of file CStream.h.

CStream& mrpt::utils::operator<<	(	CStream &	s,
		const std::vector< float > &	a
	)			`[inline]`

Definition at line 203 of file CStream.h.

BASE_IMPEXP CStream& mrpt::utils::operator<<	(	CStream &	,
		const vector_bool &	a
	)

BASE_IMPEXP CStream& mrpt::utils::operator<<	(	CStream &	,
		const vector_int &	a
	)

BASE_IMPEXP CStream& mrpt::utils::operator<<	(	CStream &	,
		const std::string &	str
	)

BASE_IMPEXP CStream& mrpt::utils::operator<<	(	CStream &	,
		const char *	a
	)

bool BASE_IMPEXP mrpt::utils::operator==	(	const TMatchingPairList &	a,
		const TMatchingPairList &	b
	)

A comparison operator.

bool BASE_IMPEXP mrpt::utils::operator==	(	const TMatchingPair &	a,
		const TMatchingPair &	b
	)

A comparison operator.

template<class T1 , class T2 >

CStream& mrpt::utils::operator>>	(	CStream &	in,
		std::pair< T1, T2 > &	obj
	)			`[inline]`

Template method to deserialize a STL pair.

Definition at line 173 of file stl_extensions.h.

References mrpt::format(), mrpt::utils::TTypeName< T >::get(), and THROW_EXCEPTION.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< size_t > &	a
	)			`[inline]`

Definition at line 244 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< uint32_t > &	a
	)			`[inline]`

Definition at line 241 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< uint16_t > &	a
	)			`[inline]`

Definition at line 240 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< uint8_t > &	a
	)			`[inline]`

Definition at line 239 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< int64_t > &	a
	)			`[inline]`

Definition at line 238 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< int32_t > &	a
	)			`[inline]`

Definition at line 237 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< int16_t > &	a
	)			`[inline]`

Definition at line 236 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< int8_t > &	a
	)			`[inline]`

Definition at line 235 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< double > &	a
	)			`[inline]`

Definition at line 234 of file CStream.h.

CStream& mrpt::utils::operator>>	(	CStream &	s,
		std::vector< float > &	a
	)			`[inline]`

Definition at line 233 of file CStream.h.

BASE_IMPEXP CStream& mrpt::utils::operator>>	(	CStream &	,
		std::vector< std::string > &
	)

BASE_IMPEXP CStream& mrpt::utils::operator>>	(	CStream &	in,
		vector_bool &	a
	)

BASE_IMPEXP CStream& mrpt::utils::operator>>	(	CStream &	in,
		vector_int &	a
	)

BASE_IMPEXP CStream& mrpt::utils::operator>>	(	CStream &	in,
		std::string &	str
	)

BASE_IMPEXP CStream& mrpt::utils::operator>>	(	CStream &	in,
		char *	a
	)

template<typename T >

void mrpt::utils::printf_vector	(	const char *	fmt,
		const std::vector< T > &	V
	)			`[inline]`

Prints a vector in the format [A,B,C,.

..] to std::cout, and the fmt string for each vector element.

Definition at line 226 of file stl_extensions.h.

References sprintf_vector().

float mrpt::utils::RAD2DEG ( const float x ) [inline]

Radians to degrees.

Definition at line 560 of file utils_defs.h.

References M_PIf.

double mrpt::utils::RAD2DEG ( const double x ) [inline]

Radians to degrees.

Definition at line 557 of file utils_defs.h.

References M_PI.

Referenced by mrpt::math::TPose3D::asString(), mrpt::math::TPose2D::asString(), mrpt::poses::CPose3D::asString(), and mrpt::poses::CPose2D::asString().

void BASE_IMPEXP mrpt::utils::RawStringToObject	(	const std::string &	in_str,
		CSerializablePtr &	obj
	)

Converts back (de-serializes) a sequence of binary data within a std::string into a MRPT object, without prior information about the object's class.

Parameters:

	in_data	The serialized input data representing the object.
	obj	The newly created object will be stored in this smart pointer.

Exceptions:

None

On any internal exception, this function returns a NULL pointer.

See also:: ObjectToRawString

void BASE_IMPEXP mrpt::utils::registerClass ( const mrpt::utils::TRuntimeClassId * pNewClass )

Register a class into the MRPT internal list of "CSerializable" descendents.

Used internally in the macros DEFINE_SERIALIZABLE, etc...

See also:: getAllRegisteredClasses, CStartUpClassesRegister

Referenced by mrpt::utils::CLASSINIT::CLASSINIT(), and mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

void BASE_IMPEXP mrpt::utils::registerClassCustomName	(	const char *	customName,
		const TRuntimeClassId *	pNewClass
	)

Mostly for internal use within mrpt sources, to handle exceptional cases with multiple serialization names for backward compatibility (CMultiMetricMaps, CImage,.

..)

template<class T >