mcl_gtk.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <robomath.h>
#include <mcl.h>
#include "mcl_gtk.h"

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Functions
void	print_usage ()
	Print usage.
int	parseopt (int argc, char **argv)
	Parse program arguments.
void	init_robot (struct mcl_model *mcl)
	Init the robot`s position.
void	init_mcl (struct mcl_model *mcl)
	Initialization of the MCL model for our robot.
void	move (struct mcl_model *mcl, double dx, double dy, double dangle)
	Move the particles and the robot by a specified distance.
void	quit ()
	FUNCTION PROTOTYPES.
void	load_pixmaps (GtkWidget *widget, struct moveable_obj *moveable, struct pixmap_obj *pixmaps)
	Get the width and height for the xpm data.
void	load_scene_pixmap (GtkWidget *widget)
	Load all scene pixmaps.
gint	expose_event (GtkWidget *widget, GdkEventExpose *event)
gint	repaint (gpointer data)
void	test_repaint ()
	GKT test function.
void	init_animation (int argc, char *argv[], void(*repaint_func)())
	Initialization of the animation.
int	get_color (double weight)
	Get color index depending on the weight of particles.
void	test_animation (int argc, char *argv[])
	Test GTK animation.
void	scene_repaint ()
	Repaint the scene (background, particles, robot, ...).
void	initdata ()
	Init data structures.
void	destroydata ()
	Destroy data.
int	main (int _argc, char **_argv)
	Main function.
Variables
struct mcl_model	mcl
void(*	repaint_objects )()

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Function Documentation

void destroydata

(

)

Destroy data.

gint expose_event	(	GtkWidget *	widget,
		GdkEventExpose *	event
	)

int get_color

(

double

weight

)

Get color index depending on the weight of particles.

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void init_animation	(	int	argc,
		char *	argv[],
		void(*)()	repaint_func
	)

Initialization of the animation.

Parameters:

	argc	program`s arguments count
	argv	program`s arguments
	repaint_func	repaint function

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void init_mcl

(

struct mcl_model *

mcl

)

Initialization of the MCL model for our robot.

Parameters:

mcl

the MCL model

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void init_robot

(

struct mcl_model *

mcl

)

Init the robot`s position.

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void initdata

(

)

Init data structures.

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void load_pixmaps	(	GtkWidget *	widget,
		struct moveable_obj *	moveable,
		struct pixmap_obj *	pixmaps
	)

Get the width and height for the xpm data.

Load pixmaps according to predefined data struct.

void load_scene_pixmap

(

GtkWidget *

widget

)

Load all scene pixmaps.

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int main	(	int	_argc,
		char **	_argv
	)

Main function.

Parameters:

	argc	Arguments counter
	argv	Arguments array

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void move	(	struct mcl_model *	mcl,
		double	dx,
		double	dy,
		double	dangle
	)

Move the particles and the robot by a specified distance.

Parameters:

	mcl	the MCL model
	dx	movement in axis X
	dy	movement in axis Y
	dangle	turning

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int parseopt	(	int	argc,
		char **	argv
	)

Parse program arguments.

Store flags to a global variable.

Parameters:

	argc	Arguments counter (given from main())
	argv	Arguments array (given from main())

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void print_usage

(

)

Print usage.

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void quit

(

)

FUNCTION PROTOTYPES.

gint repaint

(

gpointer

data

)

void scene_repaint

(

)

Repaint the scene (background, particles, robot, ...).

Repaint the scene (background, points, ...).

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void test_animation	(	int	argc,
		char *	argv[]
	)

Test GTK animation.

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void test_repaint

(

)

GKT test function.

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Variable Documentation

struct mcl_model mcl

void(* repaint_objects)()