Main namespace. More...

Namespaces
	geo
	Operations on geometry.

	gui
	All GUI functions and classes.

	io

	log
	Logging functions. Uses boost::format for formatting, not printf.

	math
	Helper functions and constants require for mathematical operations.

	plan
	OMPL based planning utilities.

	tf
	Helper functions for transform manipulation.

Classes
class	ACM
	An allowed collision map / matrix for the robot. Stores what frames are allowed to collide with each other. More...

class	ACMConstPtr
	A const shared pointer wrapper for se2ez::ACM. More...

class	ACMPtr
	A shared pointer wrapper for se2ez::ACM. More...

class	Box2DCollisionManager
	A collisions manager that uses Box2D as the underlying collision checking engine. More...

class	Box2DCollisionManagerConstPtr
	A const shared pointer wrapper for se2ez::Box2DCollisionManager. More...

class	Box2DCollisionManagerPtr
	A shared pointer wrapper for se2ez::Box2DCollisionManager. More...

class	Box2DContact
	Container class for Box2D's contact representation. More...

class	Box2DShape
	Container class that converts se2ez::Geometry into a Box2D geometry. More...

class	Box2DShapeConstPtr
	A const shared pointer wrapper for se2ez::Box2DShape. More...

class	Box2DShapePtr
	A shared pointer wrapper for se2ez::Box2DShape. More...

class	Box2DWorld
	Container class for Box2D's world representation. More...

class	Box2DWorldConstPtr
	A const shared pointer wrapper for se2ez::Box2DWorld. More...

class	Box2DWorldPtr
	A shared pointer wrapper for se2ez::Box2DWorld. More...

class	ChainIK
	Convenience wrapper around TreeIK for solving chains with a single tip frame. More...

class	ChainIKConstPtr
	A const shared pointer wrapper for se2ez::ChainIK. More...

class	ChainIKPtr
	A shared pointer wrapper for se2ez::ChainIK. More...

class	CollisionAwareChainIK
	Convenience wrapper around CollisionAwareTreeIK for solving chains with a single tip frame. More...

class	CollisionAwareChainIKConstPtr
	A const shared pointer wrapper for se2ez::CollisionAwareChainIK. More...

class	CollisionAwareChainIKPtr
	A shared pointer wrapper for se2ez::CollisionAwareChainIK. More...

class	CollisionAwareTreeIK
	A collision aware version of tree IK. More...

class	CollisionAwareTreeIKConstPtr
	A const shared pointer wrapper for se2ez::CollisionAwareTreeIK. More...

class	CollisionAwareTreeIKPtr
	A shared pointer wrapper for se2ez::CollisionAwareTreeIK. More...

class	CollisionManager
	An abstract class that all collision managers must implement. More...

class	CollisionManagerConstPtr
	A const shared pointer wrapper for se2ez::CollisionManager. More...

class	CollisionManagerPtr
	A shared pointer wrapper for se2ez::CollisionManager. More...

class	CSpaceGrid
	Helper class to compute and draw C-Space images from arbitrary robots. More...

class	CSpaceGridConstPtr
	A const shared pointer wrapper for se2ez::CSpaceGrid. More...

class	CSpaceGridPtr
	A shared pointer wrapper for se2ez::CSpaceGrid. More...

class	Distribution

class	Frame
	Representation of a single frame (possibly with a joint) in a kinematic tree. More...

class	FrameConstPtr
	A const shared pointer wrapper for se2ez::Frame. More...

class	FrameMap
	Map of frame name to a pair of that describes if the transform is "dirty" (needs updating) and its current transform. More...

class	FramePtr
	A shared pointer wrapper for se2ez::Frame. More...

class	GaussianKDE

class	Geometry

class	GeometryConstPtr
	A const shared pointer wrapper for se2ez::Geometry. More...

class	GeometryPtr
	A shared pointer wrapper for se2ez::Geometry. More...

class	Histogram

class	IKSolver
	Common components of IK solvers. More...

class	IKSolverConstPtr
	A const shared pointer wrapper for se2ez::IKSolver. More...

class	IKSolverPtr
	A shared pointer wrapper for se2ez::IKSolver. More...

class	Joint
	Container class that stores the underlying joint representation. Can represent basic joints within the plane, such as fixed (rigid attachment), float (free-flying in SE(2)), translate (free translation in R^2), prismatic (extension along the X-axis), and revolute (rotation). More...

class	JointConstPtr
	A const shared pointer wrapper for se2ez::Joint. More...

class	JointPtr
	A shared pointer wrapper for se2ez::Joint. More...

class	KDE

class	MotionBuilder
	Given a robot it generates queries (IK solutions for a specific set of frames) More...

class	MotionBuilderConstPtr
	A const shared pointer wrapper for se2ez::MotionBuilder. More...

class	MotionBuilderPtr
	A shared pointer wrapper for se2ez::MotionBuilder. More...

class	Robot
	A representation of a robot (in this case, a kinematic tree in the plane). More...

class	RobotConstPtr
	A const shared pointer wrapper for se2ez::Robot. More...

class	RobotPtr
	A shared pointer wrapper for se2ez::Robot. More...

class	Scene
	A representation of a Scene (in this case, one active robot and multiple passive robots (with all joints fixed representing the obstacles). More...

class	SceneConstPtr
	A const shared pointer wrapper for se2ez::Scene. More...

class	ScenePtr
	A shared pointer wrapper for se2ez::Scene. More...

class	State
	A representation of a state of a Robot. More...

class	StateConstPtr
	A const shared pointer wrapper for se2ez::State. More...

class	StatePtr
	A shared pointer wrapper for se2ez::State. More...

class	TreeIK

class	TreeIKConstPtr
	A const shared pointer wrapper for se2ez::TreeIK. More...

class	TreeIKPtr
	A shared pointer wrapper for se2ez::TreeIK. More...

Functions
void	viridis (double s, double &r, double &g, double &b)
	Maps a scalar s in [0, 1] to the Viridis colormap. More...

void	coolwarm (double s, double &r, double &g, double &b)
	Maps a scalar s in [0, 1] to the Cool-Warm colormap. More...

void	extKindlmann (double s, double &r, double &g, double &b)
	Maps a scalar s in [0, 1] to the Extended Kindlmann colormap. More...

void	plasma (double s, double &r, double &g, double &b)
	Maps a scalar s in [0, 1] to the Plasma colormap. More...

void	turbo (double s, double &r, double &g, double &b)
	Maps a scalar s in [0, 1] to the Turbo colormap. More...

void	grayscale (double s, double &r, double &g, double &b)
	Maps a scalar s in [0, 1] to greyscale. More...

void	toGrayscale (double &r, double &g, double &b)
	Maps an RGB color to a greyscale color based on luminosity. More...

void	rgb2hsv (double r, double g, double b, double &h, double &s, double &v)
	Convert a RGB color to HSV. More...

void	hsv2rgb (double h, double s, double v, double &r, double &g, double &b)
	Convert a RGB color to HSV. More...

Detailed Description

Main namespace.

Function Documentation

◆ coolwarm()

void se2ez::coolwarm	(	double	s,
		double &	r,
		double &	g,
		double &	b
	)

Maps a scalar s in [0, 1] to the Cool-Warm colormap.

Parameters

[in]	s	Scalar to map.
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 314 of file colormap.cpp.

◆ extKindlmann()

void se2ez::extKindlmann	(	double	s,
		double &	r,
		double &	g,
		double &	b
	)

Maps a scalar s in [0, 1] to the Extended Kindlmann colormap.

Parameters

[in]	s	Scalar to map.
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 319 of file colormap.cpp.

◆ grayscale()

void se2ez::grayscale	(	double	s,
		double &	r,
		double &	g,
		double &	b
	)

Maps a scalar s in [0, 1] to greyscale.

Parameters

[in]	s	Scalar to map.
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 334 of file colormap.cpp.

◆ hsv2rgb()

void se2ez::hsv2rgb	(	double	h,
		double	s,
		double	v,
		double &	r,
		double &	g,
		double &	b
	)

Convert a RGB color to HSV.

Parameters

[in]	h	Hue value in [-pi, pi]
[in]	s	Saturation value in [0, 1]
[in]	v	Value in [0, 1]
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 387 of file colormap.cpp.

◆ plasma()

void se2ez::plasma	(	double	s,
		double &	r,
		double &	g,
		double &	b
	)

Maps a scalar s in [0, 1] to the Plasma colormap.

Parameters

[in]	s	Scalar to map.
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 324 of file colormap.cpp.

◆ rgb2hsv()

void se2ez::rgb2hsv	(	double	r,
		double	g,
		double	b,
		double &	h,
		double &	s,
		double &	v
	)

Convert a RGB color to HSV.

Parameters

[in]	r	Red value in [0, 1]
[in]	g	Green value in [0, 1]
[in]	b	Blue value in [0, 1]
[out]	h	Hue value in [-pi, pi]
[out]	s	Saturation value in [0, 1]
[out]	v	Value in [0, 1]

Definition at line 347 of file colormap.cpp.

◆ toGrayscale()

void se2ez::toGrayscale	(	double &	r,
		double &	g,
		double &	b
	)

Maps an RGB color to a greyscale color based on luminosity.

Parameters

[in,out]	r	Red value in [0, 1]
[in,out]	g	Green value in [0, 1]
[in,out]	b	Blue value in [0, 1]

Definition at line 341 of file colormap.cpp.

◆ turbo()

void se2ez::turbo	(	double	s,
		double &	r,
		double &	g,
		double &	b
	)

Maps a scalar s in [0, 1] to the Turbo colormap.

Parameters

[in]	s	Scalar to map.
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 329 of file colormap.cpp.

◆ viridis()

void se2ez::viridis	(	double	s,
		double &	r,
		double &	g,
		double &	b
	)

Maps a scalar s in [0, 1] to the Viridis colormap.

Parameters

[in]	s	Scalar to map.
[out]	r	Red value in [0, 1]
[out]	g	Green value in [0, 1]
[out]	b	Blue value in [0, 1]

Definition at line 309 of file colormap.cpp.

Namespaces

Classes

Functions

Detailed Description

Function Documentation

◆ coolwarm()

◆ extKindlmann()

◆ grayscale()

◆ hsv2rgb()

◆ plasma()

◆ rgb2hsv()

◆ toGrayscale()

◆ turbo()

◆ viridis()