Inverse Perspective Mapping
[Fusion]

This module does inverse perspective mapping of one or more cameras. It also has an extension to perform LAIPM, laser assisted inverse perspective mapping. More...

Collaboration diagram for Inverse Perspective Mapping:

Data Structures
struct	TYPE_ipm_expert_params
	This is the ipm output image caracteristics. More...
struct	TYPE_camerakinematics_params
	This is used to caracterize each camera's kinematic parameters. More...
struct	ipm_data_message
	This data has the birdview plus the laser scans, if being used. More...
struct	undistortparams_label
struct	kinematicsparams_label
struct	birdviewparams_label
struct	TYPE_shm
struct	TYPE_Camcontroller
class	lar_timer
struct	TYPE_calibration
struct	ipm_query_data_message
	This is an ipm data query message, This is used to ask for an fused data to a server module. More...
struct	ipm_heartbeat_message
	This is an image heartbeat message. When a server module as has new fused data available, it publishes a heartbeat message. More...
struct	ipm_query_shminfo_message
	Used to query the server for shared memory id and other features. More...
struct	ipm_server_shminfo_message
	Used to repply to a query for shm information. More...
Modules
	Base of Inverse Perspective Mapping
	This module has the base class for the inverse perspective mapping.
Files
file	ipm_interface.cpp
	interface functions are defined here.
file	ipm_interface.h
	interface.h file for this module. Defines public funtions prototypes this module's interface library makes available to other modules.
file	ipm_messages.h
	messages.h file for this module. Defines messages this module publishes or serves to others.
file	ipm_publish.cpp
	The publisher for this module This is outdated. Use server instead.
file	ipm_publish.h
	The header for the publisher for this module This is outdated. Use server instead.
file	ipm_queryexample.cpp
	An example on how to query ipm data from a server.
file	ipm_server.cpp
	The server.
file	ipm_server.h
	The header file for the server.
file	ipm_server_functions.cpp
	Auxiliary functions for the server.
file	ipm_subscribeexample.cpp
	An example on how to subscribe a message.
Defines
#define	_MAXNUM_LASERPTS_   1080
#define	IPM_RESET_OCCURRED_NAME   "ipm_reset_occurred"
	Control message to pass to the process control module. Always capitals finishes with _RESET_OCCURRED_NAME and the value is small letters the same without the suffix name.
#define	IPM_RESET_COMMAND_NAME   "ipm_reset_command"
	Control message to pass to the process control module. Always capitals finishes with _RESET_COMMAND_NAME and the value is small letters the same without the suffix name.
#define	IPM_PUBLISH_DATA_MESSAGE_NAME   "ipm_publish_data"
	Name of the message to be published to the IPC.
#define	IPM_PUBLISH_DATA_MESSAGE_FMT   "{int,int,int,int,<char:4>,int, <int:6>, <int:6>,double,double,double,string}"
#define	IPM_SERVER_DATA_MESSAGE_NAME   "ipm_server_data"
	Name of the message to be server to the IPC.
#define	IPM_SERVER_DATA_MESSAGE_FMT   IPM_PUBLISH_DATA_MESSAGE_FMT
	Format of the message passed to IPC. Always capitals finishes with _MESSAGE_FMT and the value is given similar to the one bellow. For more information view the IPC manual.
#define	IPM_QUERY_DATA_MESSAGE_NAME   "ipm_query_data"
#define	IPM_QUERY_DATA_MESSAGE_FMT   "{int,double,string}"
#define	IPM_HEARTBEAT_MESSAGE_NAME   "ipm_heartbeat"
#define	IPM_HEARTBEAT_MESSAGE_FMT   "{int,double,string}"
#define	IPM_QUERY_SHMINFO_MESSAGE_NAME   "ipm_query_shminfo"
#define	IPM_QUERY_SHMINFO_MESSAGE_FMT   "{int,double,string}"
#define	IPM_SERVER_SHMINFO_MESSAGE_NAME   "ipm_server_shminfo"
#define	IPM_SERVER_SHMINFO_MESSAGE_FMT   "{int,int,double,string}"
#define	IPM_SERVER_DATA_MODULE_NAME   "ipm_server_data_module"
#define	_LISTSIZE_   10
#define	_PTU_PAN_CORRECTION   -3
#define	_PTU_TILT_CORRECTION   1
#define	_LISTSIZE_   10
#define	_PTU_PAN_CORRECTION   0
#define	_DEFAULT_PTU_TILT_CORRECTION_   -1
#define	_NUM_CAMERAS_   2
#define	_DEBUG_IPM_SERVER_   TRUE
Typedefs
typedef carmen_default_message	ipm_reset_occurred_message
typedef carmen_default_message	ipm_reset_command_message
typedef global_dummy_message	ipm_query_data_message
typedef global_dummy_message	ipm_heartbeat_message
typedef global_dummy_message	ipm_query_shminfo_message
typedef global_shminfo_message	ipm_server_shminfo_message
Functions
void	ipm_subscribe_data (ipm_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
void	ipm_publish_data (ipm_data_message *msg)
void	ipm_publish_heartbeat (void)
void	ipm_subscribe_heartbeat (ipm_heartbeat_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
int	ipm_get_ipl_from_ipm_data_message (ipm_data_message *sensordata, IplImage **pimg)
int	ipm_query_data (double timetowait, ipm_data_message **sensordata)
int	ipm_query_shminfo (double, int *shmid, int *shmsize)
int	ipm_convert_point_to_birdview_frame (int srcx, int srcy, int *dstx, int *dsty)
int	ipm_convert_point_to_robot_frame (int srcx, int srcy, int *dstx, int *dsty)
void	param_daemon_install_ipm_expert_params (TYPE_ipm_expert_params *p, int subscribe_changes)
void	param_daemon_install_camerakinematics_params (TYPE_camerakinematics_params *p, int camera_num, int subscribe_changes, int verbose)
int	param_daemon_set_ipm_uselaser (int val)
void	carmen_ipm_reset (void)
static void	query_sensordata_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *clientData __attribute__((unused)))
void	ptucontrol_status_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData __attribute__((unused)), void *clientData __attribute__((unused)))
void	shutdown_module (int x)
	Module shutdown function.
void	interpolate_panandtilt (double targettimestamp, double *ipan, double *itilt)
void	heartbeat_handler (carmen_heartbeat_message *heartbeat_msg)
	TO BE REMOVED.
int	main (int argc, char **argv)
void	check_command (int argc, char **argv)
int	stretch_image_masked (IplImage *src, IplImage *dst, double low, double high, IplImage *mask)
void	ptucontrol_status_handler (MSG_INSTANCE msgRef __attribute__((unused)), BYTE_ARRAY callData __attribute__((unused)), void *clientData __attribute__((unused)))
void	query_shminfo_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *clientData)
void	camera0_heartbeat_handler (void)
void	camera1_heartbeat_handler (void)
void	hokuyo_heartbeat_handler (void)
Variables
char	flip
char	firsttime
static IplImage *	ubcamera_nroad_image_0
static IplImage *	ubcamera_nroad_image_1
IplImage *	imgRGB = NULL
IplImage *	fimg = NULL
IplImage *	fimgRGB = NULL
IplImage *	ifimg = NULL
IplImage *	ifimgRGB = NULL
IplImage *	ifimgRGB_withlasermask = NULL
IplImage *	gui_ifimg = NULL
IplImage *	laser_mask_img = NULL
IplImage *	lasermask_tmp = NULL
IplImage *	pimage
class_base_ipm	base_ipm
char	ubcamera_nroad_image_message_heartbeat = FALSE
char	ubcamera_nroad_image_message_imageaquired = FALSE
char	hokuyo_message_heartbeat = FALSE
char	hokuyo_message_laseraquired = FALSE
char	flag_querying = FALSE
static double	timestamp_0
static double	timestamp_1
carmen_laser_laser_message	laser_msg
struct undistortparams_label	undistortparams [2]
struct kinematicsparams_label	kinematicsparams [2]
struct birdviewparams_label	birdviewparams
carmen_ptucontrol_status_message	ptu_status
static ipm_query_data_message	query_msg
static ipm_data_message	response_msg
TYPE_executionflags	flags
	Include the interface.
double	listpan [_LISTSIZE_]
double	listtilt [_LISTSIZE_]
double	listtimestamp [_LISTSIZE_]
double	newptupan
double	newptutilt
static char	uselaser = 0
static int	connectivity_tmp = 4
static int	new_mask_val_tmp = 255
static int	flags_tmp = connectivity_tmp + (new_mask_val_tmp << 8)
carmen_param_t	camera_undistort_params_0 []
carmen_param_t	camera_undistort_params_1 []
carmen_param_t	camera_kinematics_params_0 []
carmen_param_t	camera_kinematics_params_1 []
carmen_param_t	camera_birdview_params []
int	firsttime_road = 1
int	firsttime_overlap = 1
char	debugflag
static IplImage *	ipm_image
ipm_data_message *	sensordata
char	ipm_heartbeat = 0
double	TILT = -50
IplImage *	ubcamera_nroad_image_0
IplImage *	ubcamera_nroad_image_1
IplImage *	image_overlaped
IplImage *	imgRGB
IplImage *	fimg
IplImage *	fimgRGB
IplImage *	ifimg
IplImage *	ifimgRGB
IplImage *	ifimgRGB_withlasermask
IplImage *	gui_ifimg
IplImage *	laser_mask_img
IplImage *	lasermask_tmp
IplImage *	pimage
TYPE_calibration	calibration
carmen_ptucontrol_status_message	ptu_status
TYPE_executionflags	flg
char	camera0_image_message_heartbeat
char	camera1_image_message_heartbeat
char	hokuyo_message_heartbeat
char	hokuyo_message_laseraquired
char	flag_querying
ipm_query_data_message	query_msg
ipm_data_message	response_msg
double	timestamp_0
double	timestamp_1
double	listpan [_LISTSIZE_]
double	listtilt [_LISTSIZE_]
double	listtimestamp [_LISTSIZE_]
TYPE_shm	shm
TYPE_executionflags	flags
	Include the interface.
static IplImage *	ipm_image
int	firsttime_road = 1
int	firsttime_overlap = 1
ipm_data_message	sensordata

---

Detailed Description

This module does inverse perspective mapping of one or more cameras. It also has an extension to perform LAIPM, laser assisted inverse perspective mapping.

---

Define Documentation

#define _DEBUG_IPM_SERVER_   TRUE

#define _DEFAULT_PTU_TILT_CORRECTION_   -1

#define _LISTSIZE_   10

#define _LISTSIZE_   10

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

#define _MAXNUM_LASERPTS_   1080

Referenced by query_sensordata_handler(), and subscribe_ipm_initial_data().

#define _NUM_CAMERAS_   2

#define _PTU_PAN_CORRECTION   0

#define _PTU_PAN_CORRECTION   -3

#define _PTU_TILT_CORRECTION   1

#define IPM_HEARTBEAT_MESSAGE_FMT   "{int,double,string}"

Referenced by register_ipc_messages().

#define IPM_HEARTBEAT_MESSAGE_NAME   "ipm_heartbeat"

Referenced by heartbeat_handler(), and register_ipc_messages().

#define IPM_PUBLISH_DATA_MESSAGE_FMT   "{int,int,int,int,<char:4>,int, <int:6>, <int:6>,double,double,double,string}"

Referenced by ipm_subscribe_data().

#define IPM_PUBLISH_DATA_MESSAGE_NAME   "ipm_publish_data"

Name of the message to be published to the IPC.

Referenced by ipm_subscribe_data().

#define IPM_QUERY_DATA_MESSAGE_FMT   "{int,double,string}"

#define IPM_QUERY_DATA_MESSAGE_NAME   "ipm_query_data"

Referenced by main().

#define IPM_QUERY_SHMINFO_MESSAGE_FMT   "{int,double,string}"

#define IPM_QUERY_SHMINFO_MESSAGE_NAME   "ipm_query_shminfo"

Referenced by auxiliar_ipm_shm_to_message().

#define IPM_RESET_COMMAND_NAME   "ipm_reset_command"

Control message to pass to the process control module. Always capitals finishes with _RESET_COMMAND_NAME and the value is small letters the same without the suffix name.

#define IPM_RESET_OCCURRED_NAME   "ipm_reset_occurred"

Control message to pass to the process control module. Always capitals finishes with _RESET_OCCURRED_NAME and the value is small letters the same without the suffix name.

#define IPM_SERVER_DATA_MESSAGE_FMT   IPM_PUBLISH_DATA_MESSAGE_FMT

Format of the message passed to IPC. Always capitals finishes with _MESSAGE_FMT and the value is given similar to the one bellow. For more information view the IPC manual.

Referenced by subscribe_ipm_initial_data().

#define IPM_SERVER_DATA_MESSAGE_NAME   "ipm_server_data"

Name of the message to be server to the IPC.

Referenced by heartbeat_handler(), and query_sensordata_handler().

#define IPM_SERVER_DATA_MODULE_NAME   "ipm_server_data_module"

#define IPM_SERVER_SHMINFO_MESSAGE_FMT   "{int,int,double,string}"

#define IPM_SERVER_SHMINFO_MESSAGE_NAME   "ipm_server_shminfo"

Referenced by ipm_query_shminfo_handler(), and query_shminfo_handler().

---

Typedef Documentation

typedef global_dummy_message ipm_heartbeat_message

typedef global_dummy_message ipm_query_data_message

typedef global_dummy_message ipm_query_shminfo_message

typedef carmen_default_message ipm_reset_command_message

typedef carmen_default_message ipm_reset_occurred_message

typedef global_shminfo_message ipm_server_shminfo_message

---

Function Documentation

void camera0_heartbeat_handler

(

void

)

References camera0_image_message_heartbeat, and CAMERA_N0_HEARTBEAT_NAME.

void camera1_heartbeat_handler

(

void

)

References camera1_image_message_heartbeat, and CAMERA_N1_HEARTBEAT_NAME.

void carmen_ipm_reset

(

void

)

void check_command	(	int	argc,
		char **	argv
	)

References debugflag, i, and TRUE.

void heartbeat_handler

(

carmen_heartbeat_message *

heartbeat_msg

)

TO BE REMOVED.

All the processing is done when the data is recieved, so this function has all the work.

Returns:

void

References debugflag, ipm_heartbeat, and IPM_SERVER_DATA_MESSAGE_NAME.

void hokuyo_heartbeat_handler

(

void

)

References hokuyo_message_heartbeat.

void interpolate_panandtilt	(	double	targettimestamp,
		double *	ipan,
		double *	itilt
	)

References _LISTSIZE_, listpan, listtilt, listtimestamp, and t.

int ipm_convert_point_to_birdview_frame	(	int	srcx,
		int	srcy,
		int *	dstx,
		int *	dsty
	)

int ipm_convert_point_to_robot_frame	(	int	srcx,
		int	srcy,
		int *	dstx,
		int *	dsty
	)

int ipm_get_ipl_from_ipm_data_message	(	ipm_data_message *	sensordata,
		IplImage **	pimg
	)

Referenced by main().

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void ipm_publish_data

(

ipm_data_message *

msg

)

void ipm_publish_heartbeat

(

void

)

int ipm_query_data	(	double	timetowait,
		ipm_data_message **	sensordata
	)

Referenced by main().

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int ipm_query_shminfo	(	double	,
		int *	shmid,
		int *	shmsize
	)

void ipm_subscribe_data	(	ipm_data_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

References IPM_PUBLISH_DATA_MESSAGE_FMT, and IPM_PUBLISH_DATA_MESSAGE_NAME.

void ipm_subscribe_heartbeat	(	ipm_heartbeat_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Referenced by main().

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int main	(	int	argc,
		char **	argv
	)

install all required parameters from .ini file

Printing Startup message

now set the initial kinematic and intrinsic parameters for each input camera

Cameras parameters controller

M_PI/180

References ipm_get_ipl_from_ipm_data_message(), ipm_image, readcommandlineparameters(), and shutdown_module().

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void param_daemon_install_camerakinematics_params	(	TYPE_camerakinematics_params *	p,
		int	camera_num,
		int	subscribe_changes,
		int	verbose
	)

void param_daemon_install_ipm_expert_params	(	TYPE_ipm_expert_params *	p,
		int	subscribe_changes
	)

Referenced by main(), and subscribe_ipm_initial_data().

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int param_daemon_set_ipm_uselaser

(

int

val

)

Referenced by state_management().

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void ptucontrol_status_handler	(	MSG_INSTANCE msgRef	__attribute__(unused),
		BYTE_ARRAY callData	__attribute__(unused),
		void *clientData	__attribute__(unused)
	)

References _LISTSIZE_, carmen_ptucontrol_status_message::current, carmen_ptucontrol_status_message::datatimestamp, listpan, listtilt, listtimestamp, TYPE_pantil::pan, carmen_ptucontrol_status_message::position, ptu_status, t, and TYPE_pantil::tilt.

void ptucontrol_status_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY callData	__attribute__(unused),
		void *clientData	__attribute__(unused)
	)

References _LISTSIZE_, carmen_ptucontrol_status_message::current, carmen_ptucontrol_status_message::datatimestamp, listpan, listtilt, listtimestamp, TYPE_pantil::pan, carmen_ptucontrol_status_message::position, ptu_status, t, and TYPE_pantil::tilt.

void query_sensordata_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY	callData,
		void *clientData	__attribute__(unused)
	)			[static]

References _MAXNUM_LASERPTS_, ipm_data_message::bytes_per_pixel, err, flag_querying, ipm_data_message::height, ipm_data_message::host, ifimgRGB_withlasermask, ipm_data_message::image, ipm_data_message::image_size, IPM_SERVER_DATA_MESSAGE_NAME, msg, ipm_data_message::numlaserpts, ipm_data_message::rawdata_timestamp, response_msg, ipm_data_message::timestamp, timestamp_0, ipm_data_message::width, ipm_data_message::xpts, and ipm_data_message::ypts.

void query_shminfo_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY	callData,
		void *	clientData
	)

References err, TYPE_shm::id, IPM_SERVER_SHMINFO_MESSAGE_NAME, shm, and TYPE_shm::size.

void shutdown_module

(

int

x

)

Module shutdown function.

makes a clean shutdown of the program

int stretch_image_masked	(	IplImage *	src,
		IplImage *	dst,
		double	low,
		double	high,
		IplImage *	mask
	)

References GetPixel_8UC1(), i, and SetPixel_8UC1().

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---

Variable Documentation

class_base_ipm base_ipm

struct birdviewparams_label birdviewparams

Referenced by calculate_traj_distance_to_repulsor_pts(), generate_atractor_pts(), generate_trajectories(), main(), relocate_atractor_pts(), and score_trajectories().

TYPE_calibration calibration

char camera0_image_message_heartbeat

Referenced by camera0_heartbeat_handler().

char camera1_image_message_heartbeat

Referenced by camera1_heartbeat_handler().

carmen_param_t camera_birdview_params[]

Initial value:

 {
    {(char*)"ipm", (char*)"PPM", CARMEN_PARAM_DOUBLE, &birdviewparams.PPM, 0, NULL},
    {(char*)"ipm", (char*)"width", CARMEN_PARAM_INT, &birdviewparams.width, 0, NULL},
    {(char*)"ipm", (char*)"height", CARMEN_PARAM_INT, &birdviewparams.height, 0, NULL},
    {(char*)"ipm", (char*)"uselaser", CARMEN_PARAM_ONOFF, &uselaser, 1, NULL}}

carmen_param_t camera_kinematics_params_0[]

Initial value:

 {
    {(char*)"cameraleft", (char*)"Q1", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].Q1, 0, NULL},
    {(char*)"cameraleft", (char*)"Q2", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].Q2, 0, NULL},
    {(char*)"cameraleft", (char*)"Q5", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].Q5, 0, NULL},
    {(char*)"cameraleft", (char*)"Q6", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].Q6, 0, NULL},
    {(char*)"cameraleft", (char*)"L1", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].L1, 0, NULL},
    {(char*)"cameraleft", (char*)"L2", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].L2, 0, NULL},
    {(char*)"cameraleft", (char*)"L3", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].L3, 0, NULL},
    {(char*)"cameraleft", (char*)"L5", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].L5, 0, NULL},
    {(char*)"cameraleft", (char*)"L6", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].L6, 0, NULL},
    {(char*)"cameraleft", (char*)"D4", CARMEN_PARAM_DOUBLE, &kinematicsparams[0].D4, 0, NULL}}

carmen_param_t camera_kinematics_params_1[]

Initial value:

 {
    {(char*)"cameraright", (char*)"Q1", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].Q1, 0, NULL},
    {(char*)"cameraright", (char*)"Q2", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].Q2, 0, NULL},
    {(char*)"cameraright", (char*)"Q5", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].Q5, 0, NULL},
    {(char*)"cameraright", (char*)"Q6", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].Q6, 0, NULL},
    {(char*)"cameraright", (char*)"L1", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].L1, 0, NULL},
    {(char*)"cameraright", (char*)"L2", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].L2, 0, NULL},
    {(char*)"cameraright", (char*)"L3", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].L3, 0, NULL},
    {(char*)"cameraright", (char*)"L5", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].L5, 0, NULL},
    {(char*)"cameraright", (char*)"L6", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].L6, 0, NULL},
    {(char*)"cameraright", (char*)"D4", CARMEN_PARAM_DOUBLE, &kinematicsparams[1].D4, 0, NULL}}

carmen_param_t camera_undistort_params_0[]

Initial value:

 {
    {(char*)"cameraleft", (char*)"doundistort", CARMEN_PARAM_ONOFF, &undistortparams[0].doundistort, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_FX", CARMEN_PARAM_DOUBLE, &undistortparams[0].FX, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_FY", CARMEN_PARAM_DOUBLE, &undistortparams[0].FY, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_CX", CARMEN_PARAM_DOUBLE, &undistortparams[0].CX, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_CY", CARMEN_PARAM_DOUBLE, &undistortparams[0].CY, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_D1", CARMEN_PARAM_DOUBLE, &undistortparams[0].D1, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_D2", CARMEN_PARAM_DOUBLE, &undistortparams[0].D2, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_D3", CARMEN_PARAM_DOUBLE, &undistortparams[0].D3, 0, NULL},
    {(char*)"cameraleft", (char*)"lens_D4", CARMEN_PARAM_DOUBLE, &undistortparams[0].D4, 0, NULL}}

carmen_param_t camera_undistort_params_1[]

Initial value:

 {
    {(char*)"cameraright", (char*)"doundistort", CARMEN_PARAM_ONOFF, &undistortparams[1].doundistort, 0, NULL},
    {(char*)"cameraright", (char*)"lens_FX", CARMEN_PARAM_DOUBLE, &undistortparams[1].FX, 0, NULL},
    {(char*)"cameraright", (char*)"lens_FY", CARMEN_PARAM_DOUBLE, &undistortparams[1].FY, 0, NULL},
    {(char*)"cameraright", (char*)"lens_CX", CARMEN_PARAM_DOUBLE, &undistortparams[1].CX, 0, NULL},
    {(char*)"cameraright", (char*)"lens_CY", CARMEN_PARAM_DOUBLE, &undistortparams[1].CY, 0, NULL},
    {(char*)"cameraright", (char*)"lens_D1", CARMEN_PARAM_DOUBLE, &undistortparams[1].D1, 0, NULL},
    {(char*)"cameraright", (char*)"lens_D2", CARMEN_PARAM_DOUBLE, &undistortparams[1].D2, 0, NULL},
    {(char*)"cameraright", (char*)"lens_D3", CARMEN_PARAM_DOUBLE, &undistortparams[1].D3, 0, NULL},
    {(char*)"cameraright", (char*)"lens_D4", CARMEN_PARAM_DOUBLE, &undistortparams[1].D4, 0, NULL}}

int connectivity_tmp = 4 [static]

Referenced by fill_group_lines(), and removegroups_innerspots().

char debugflag

Referenced by check_command(), and heartbeat_handler().

IplImage* fimg

IplImage* fimg = NULL

IplImage* fimgRGB

IplImage* fimgRGB = NULL

char firsttime

Referenced by gst_publishimageIPC_chain().

int firsttime_overlap = 1

int firsttime_overlap = 1

int firsttime_road = 1

int firsttime_road = 1

char flag_querying

Referenced by query_sensordata_handler().

char flag_querying = FALSE

Referenced by query_sensordata_handler().

TYPE_executionflags flags

Include the interface.

#ifndef _FOVEATIONCONTROL_INTERFACE_H_
#define _FOVEATIONCONTROL_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/foveationcontrol_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef TYPE_xbcameratmatrix_params TYPE_foveationcontrolmatrix_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int foveationcontrol_publish_pointto_xyz(foveationcontrol_pointto_xyz_message *msg);
int foveationcontrol_subscribe_pointto_xyz(foveationcontrol_pointto_xyz_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void param_daemon_install_foveationcontrolmatrix_params(TYPE_foveationcontrolmatrix_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _POWERMANAGER_INTERFACE_H_
#define _POWERMANAGER_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/powermanager_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################


typedef enum {
            Y0_LAS0 = 130,
            Y1_PTU,
            Y2_R1394_0,
            Y3_BUMBLEBEE,
            Y4_NA,
            Y5_NA,
            Y6_NA,
            Y7_NA,
            Y10_ROUTER,
            Y11_SWITCH,
            Y12_GPS,
            Y13_NA
            }ENUM_plc_outputs;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int powermanager_publish_status(powermanager_status_message *msg);
int powermanager_subscribe_status(powermanager_status_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int powermanager_turn_on(ENUM_plc_outputs output);
int powermanager_turn_off(ENUM_plc_outputs output);
int powermanager_reset(ENUM_plc_outputs output);
int powermanager_subscribe_command(powermanager_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);


#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _XBEE_INTERFACE_H_
#define _XBEE_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                 #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/xbee_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_xbee_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int xbee_publish_rx_data(xbee_rx_data_message *msg);
int xbee_subscribe_rx_data(xbee_rx_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int xbee_publish_tx_data(xbee_tx_data_message *msg);
int xbee_subscribe_tx_data(xbee_tx_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void xbee_param_daemon_install_public_parameters(TYPE_xbee_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _MODULETEMPLATE_INTERFACE_H_
#define _MODULETEMPLATE_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/moduletemplate_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_moduletemplate_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int moduletemplate_publish_data(moduletemplate_data_message *msg);
int moduletemplate_subscribe_data(moduletemplate_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void moduletemplate_param_daemon_install_public_parameters(TYPE_moduletemplate_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

Include the interface.

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

#ifndef _AGENT_BEHAVIOUR_INTERFACE_H_
#define _AGENT_BEHAVIOUR_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/agent_behaviour_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_agent_behaviour_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int agent_behaviour_publish_data(agent_behaviour_data_message *msg);
int agent_behaviour_subscribe_data(agent_behaviour_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int agent_behaviour_publish_virtual_sensors_data(agent_behaviour_virtual_sensors_data_message *msg);
int agent_behaviour_subscribe_virtual_sensors_data(agent_behaviour_virtual_sensors_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void agent_behaviour_param_daemon_install_some_params(TYPE_agent_behaviour_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _AGENT_CLEARANCE_INTERFACE_H_
#define _AGENT_CLEARANCE_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/agent_clearance_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
// typedef struct{
//  double sleeptime;       /**< looptime is the best loop time of the module. It may be a slower time but if its faster it should carmen_ipc_sleep until this time passes.*/
//  char otherparam;        /**< some other param to be installed*/
// } TYPE_agent_clearance_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int agent_clearance_publish_distance_data(agent_clearance_distance_data_message *msg);
int agent_clearance_subscribe_distance_data(agent_clearance_distance_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
//void agent_clearance_param_daemon_install_some_params(TYPE_agent_clearance_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _AGENT_TRACKER_INTERFACE_H_
#define _AGENT_TRACKER_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/agent_tracker_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_agent_tracker_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int agent_tracker_publish_data(agent_tracker_data_message *msg);
int agent_tracker_subscribe_data(agent_tracker_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int agent_tracker_publish_virtual_sensors_data(agent_tracker_virtual_sensors_data_message *msg);
int agent_tracker_subscribe_virtual_sensors_data(agent_tracker_virtual_sensors_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void agent_tracker_param_daemon_install_some_params(TYPE_agent_tracker_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _TLHFCS_INTERFACE_H_
#define _TLHFCS_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/tlhfcs_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
// * @brief This is a test message, Here you insert the description of the entity, in this case the struct.
// */
//typedef struct{
//  double sleeptime;       /**< looptime is the best loop time of the module. It may be a slower time but if its faster it should carmen_ipc_sleep until this time passes.*/
//  char otherparam;        /**< some other param to be installed*/
//} TYPE_tlhfcs_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

//int tlhfcs_publish_information(tlhfcs_information_message *msg);
//int tlhfcs_subscribe_information(tlhfcs_information_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
//void tlhfcs_param_daemon_install_some_params(TYPE_tlhfcs_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _TLHFCS_INTERFACE_H_
#define _TLHFCS_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/tlhfcs_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
// * @brief This is a test message, Here you insert the description of the entity, in this case the struct.
// */
//typedef struct{
//  double sleeptime;       /**< looptime is the best loop time of the module. It may be a slower time but if its faster it should carmen_ipc_sleep until this time passes.*/
//  char otherparam;        /**< some other param to be installed*/
//} TYPE_tlhfcs_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

//int tlhfcs_publish_information(tlhfcs_information_message *msg);
//int tlhfcs_subscribe_information(tlhfcs_information_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
//void tlhfcs_param_daemon_install_some_params(TYPE_tlhfcs_public_params *p, int subscribe_changes, int verbose);

#endif

Include the interface.

#ifndef _VSCSHFBA_INTERFACE_H_
#define _VSCSHFBA_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/vscshfba_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################


//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int vscshfba_subscribe_data(vscshfba_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int vscshfba_publish_data(vscshfba_data_message *msg);
void vscshfba_subscribe_command_message(vscshfba_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void vscshfba_publish_command_message(vscshfba_command_message *msg);

#endif

#ifndef _VSCSHFBA_INTERFACE_H_
#define _VSCSHFBA_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/vscshfba_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################


//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int vscshfba_subscribe_data(vscshfba_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int vscshfba_publish_data(vscshfba_data_message *msg);
void vscshfba_subscribe_command_message(vscshfba_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void vscshfba_publish_command_message(vscshfba_command_message *msg);

#endif

Include the interface.

TYPE_executionflags flags

Include the interface.

#ifndef _FOVEATIONCONTROL_INTERFACE_H_
#define _FOVEATIONCONTROL_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/foveationcontrol_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef TYPE_xbcameratmatrix_params TYPE_foveationcontrolmatrix_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int foveationcontrol_publish_pointto_xyz(foveationcontrol_pointto_xyz_message *msg);
int foveationcontrol_subscribe_pointto_xyz(foveationcontrol_pointto_xyz_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void param_daemon_install_foveationcontrolmatrix_params(TYPE_foveationcontrolmatrix_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _POWERMANAGER_INTERFACE_H_
#define _POWERMANAGER_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/powermanager_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################


typedef enum {
            Y0_LAS0 = 130,
            Y1_PTU,
            Y2_R1394_0,
            Y3_BUMBLEBEE,
            Y4_NA,
            Y5_NA,
            Y6_NA,
            Y7_NA,
            Y10_ROUTER,
            Y11_SWITCH,
            Y12_GPS,
            Y13_NA
            }ENUM_plc_outputs;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int powermanager_publish_status(powermanager_status_message *msg);
int powermanager_subscribe_status(powermanager_status_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int powermanager_turn_on(ENUM_plc_outputs output);
int powermanager_turn_off(ENUM_plc_outputs output);
int powermanager_reset(ENUM_plc_outputs output);
int powermanager_subscribe_command(powermanager_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);


#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _XBEE_INTERFACE_H_
#define _XBEE_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                 #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/xbee_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_xbee_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int xbee_publish_rx_data(xbee_rx_data_message *msg);
int xbee_subscribe_rx_data(xbee_rx_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int xbee_publish_tx_data(xbee_tx_data_message *msg);
int xbee_subscribe_tx_data(xbee_tx_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void xbee_param_daemon_install_public_parameters(TYPE_xbee_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _MODULETEMPLATE_INTERFACE_H_
#define _MODULETEMPLATE_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/moduletemplate_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_moduletemplate_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int moduletemplate_publish_data(moduletemplate_data_message *msg);
int moduletemplate_subscribe_data(moduletemplate_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void moduletemplate_param_daemon_install_public_parameters(TYPE_moduletemplate_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

Include the interface.

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

#ifndef _AGENT_BEHAVIOUR_INTERFACE_H_
#define _AGENT_BEHAVIOUR_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/agent_behaviour_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_agent_behaviour_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int agent_behaviour_publish_data(agent_behaviour_data_message *msg);
int agent_behaviour_subscribe_data(agent_behaviour_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int agent_behaviour_publish_virtual_sensors_data(agent_behaviour_virtual_sensors_data_message *msg);
int agent_behaviour_subscribe_virtual_sensors_data(agent_behaviour_virtual_sensors_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void agent_behaviour_param_daemon_install_some_params(TYPE_agent_behaviour_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _AGENT_CLEARANCE_INTERFACE_H_
#define _AGENT_CLEARANCE_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/agent_clearance_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
// typedef struct{
//  double sleeptime;       /**< looptime is the best loop time of the module. It may be a slower time but if its faster it should carmen_ipc_sleep until this time passes.*/
//  char otherparam;        /**< some other param to be installed*/
// } TYPE_agent_clearance_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int agent_clearance_publish_distance_data(agent_clearance_distance_data_message *msg);
int agent_clearance_subscribe_distance_data(agent_clearance_distance_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
//void agent_clearance_param_daemon_install_some_params(TYPE_agent_clearance_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _AGENT_TRACKER_INTERFACE_H_
#define _AGENT_TRACKER_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/agent_tracker_messages.h>

//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
typedef struct{
    double sleeptime;       
    char otherparam;        
} TYPE_agent_tracker_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int agent_tracker_publish_data(agent_tracker_data_message *msg);
int agent_tracker_subscribe_data(agent_tracker_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int agent_tracker_publish_virtual_sensors_data(agent_tracker_virtual_sensors_data_message *msg);
int agent_tracker_subscribe_virtual_sensors_data(agent_tracker_virtual_sensors_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void agent_tracker_param_daemon_install_some_params(TYPE_agent_tracker_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _LAR_H_
#define _LAR_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define PLN {printf("DEBUG PRINT LINE %d\n",__LINE__);}

#define PVV(a) {printf("DEBUG PRINT FILE %s LINE %d value = %d\n",__FILE__, __LINE__,(int)(a));}
#define _cast_to_carmen_param_change_handler_t_ (void (*)(char*, char*,char*))

#define printc(a,b) {printf("%c[1;%d;48m", 0x1B, (b) +30);printf(a);printf("\33[0m");fflush(stdout);}
#define printnc(a,b,c) {printf("%c[1;%d;48m", 0x1B, (c) +30);printf(a,b);printf("\33[0m");fflush(stdout);}

#include <sys/ipc.h> //System includes to use shared mem
#include <sys/shm.h> //System includes to use shared mem

using namespace std;
#include <iostream>

#if (! _DO_NOT_USE_OPENCV_) /*opencv includes*/
  #include <opencv/cv.h>
  #include <opencv/cxcore.h>
  #include <opencv/highgui.h>
  #include <opencv/cvaux.h>
#endif

#if (! _DO_NOT_USE_CARMEN_ ) /*carmen includes*/
  #include <carmen/carmen.h>
#endif


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################

typedef struct {
    int send;           
    double timestamp;   
    char *host;         
}global_dummy_message;


typedef struct {
    int shm_id;         
    int shm_size;       
    double timestamp;   
    char *host;         
}global_shminfo_message;

//####################################################################
// LAR includes:        ##############################################
//####################################################################


#include <lar/timer.h>
#include <lar/pixelaccess.h>
#include <lar/errorhandling.h>
#include <lar/readcommandlineparameters.h>
#include <lar/lensundistort.h>
#include <lar/videosaving.h>
#include <lar/imageprocessing.h>
#include <lar/acl_interface.h>
#include <lar/crc.h>

#include <lar/moduletemplate_interface.h>

#include <lar/xbee_interface.h>
#include <lar/ptucontrol_interface.h>
#include <lar/atlas2000_interface.h>
#include <lar/atlasmv_interface.h>
#include <lar/powermanager_interface.h>
#include <lar/des70_10.h>


#include <lar/soundplayer_interface.h>
#include <lar/soundplayer_messages.h>
#include <lar/processcontrol_interface.h>
#include <lar/processcontrol_messages.h>

#include <lar/gps_interface.h>

#include <lar/xsens_interface.h>

#include <lar/firei_interface.h>
#include <lar/flea2_interface.h>
#include <lar/xb3_interface.h>

//this must be after the xb3_interface
#include <lar/foveationcontrol_interface.h>

#include <lar/hokuyo_utm_interface.h>
#include <lar/laser3d_interface.h>


#include <lar/ipm_interface.h>
#include <lar/egomotiongpsimu_interface.h>

//#include <lar/agent_tracker_interface.h>
#include <lar/agent_clearance_interface.h>

#include <lar/cdltm_interface.h>
//#include <lar/lmssp_interface.h>
#include <lar/rtbm_interface.h>

#include <lar/potkf_interface.h>

#include <lar/tlcstm_interface.h>
#include <lar/cwtm_interface.h>
#include <lar/tlhfcs_interface.h>
#include <lar/pdtm_interface.h>
#include <lar/cwpc_interface.h>
#include <lar/vscshfba_interface.h>

#include <lar/cm_interface.h>


#include <lar/mptn2d_interface.h>
#include <lar/agents_interface.h>


#include <lar/roc_interface.h>

#endif

Include global headers.

#ifndef _TLHFCS_INTERFACE_H_
#define _TLHFCS_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/tlhfcs_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
// * @brief This is a test message, Here you insert the description of the entity, in this case the struct.
// */
//typedef struct{
//  double sleeptime;       /**< looptime is the best loop time of the module. It may be a slower time but if its faster it should carmen_ipc_sleep until this time passes.*/
//  char otherparam;        /**< some other param to be installed*/
//} TYPE_tlhfcs_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

//int tlhfcs_publish_information(tlhfcs_information_message *msg);
//int tlhfcs_subscribe_information(tlhfcs_information_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
//void tlhfcs_param_daemon_install_some_params(TYPE_tlhfcs_public_params *p, int subscribe_changes, int verbose);

#endif

#ifndef _TLHFCS_INTERFACE_H_
#define _TLHFCS_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/tlhfcs_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################
// * @brief This is a test message, Here you insert the description of the entity, in this case the struct.
// */
//typedef struct{
//  double sleeptime;       /**< looptime is the best loop time of the module. It may be a slower time but if its faster it should carmen_ipc_sleep until this time passes.*/
//  char otherparam;        /**< some other param to be installed*/
//} TYPE_tlhfcs_public_params;

//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

//int tlhfcs_publish_information(tlhfcs_information_message *msg);
//int tlhfcs_subscribe_information(tlhfcs_information_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
//void tlhfcs_param_daemon_install_some_params(TYPE_tlhfcs_public_params *p, int subscribe_changes, int verbose);

#endif

Include the interface.

#ifndef _VSCSHFBA_INTERFACE_H_
#define _VSCSHFBA_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/vscshfba_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################


//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int vscshfba_subscribe_data(vscshfba_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int vscshfba_publish_data(vscshfba_data_message *msg);
void vscshfba_subscribe_command_message(vscshfba_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void vscshfba_publish_command_message(vscshfba_command_message *msg);

#endif

#ifndef _VSCSHFBA_INTERFACE_H_
#define _VSCSHFBA_INTERFACE_H_

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                     #####################################
//####################################################################

#include <lar/lar.h>
#include <lar/vscshfba_messages.h>
#include <lar/imageprocessing.h>


//####################################################################
// Typedefs:Declare here structs that have interesting params for ####
// other modules besides this one, but that will not be sent through #
// messages. A function to install this struct with param daemon #####
// should be declared ################################################
//####################################################################


//####################################################################
// Prototypes:  public functions can be declared here  ################
//####################################################################

int vscshfba_subscribe_data(vscshfba_data_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
int vscshfba_publish_data(vscshfba_data_message *msg);
void vscshfba_subscribe_command_message(vscshfba_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how);
void vscshfba_publish_command_message(vscshfba_command_message *msg);

#endif

Include the interface.

int flags_tmp = connectivity_tmp + (new_mask_val_tmp << 8) [static]

Referenced by fill_group_lines(), and removegroups_innerspots().

TYPE_executionflags flg

char flip

IplImage* gui_ifimg

IplImage* gui_ifimg = NULL

char hokuyo_message_heartbeat

Referenced by heartbeat_handler(), hokuyo_heartbeat_handler(), and main().

char hokuyo_message_heartbeat = FALSE

char hokuyo_message_laseraquired

char hokuyo_message_laseraquired = FALSE

IplImage* ifimg

IplImage* ifimg = NULL

IplImage* ifimgRGB

IplImage* ifimgRGB = NULL

IplImage* ifimgRGB_withlasermask

Referenced by query_sensordata_handler().

IplImage* ifimgRGB_withlasermask = NULL

Referenced by query_sensordata_handler().

IplImage * image_overlaped

IplImage* imgRGB

IplImage* imgRGB = NULL

char ipm_heartbeat = 0

IplImage* ipm_image [static]

IplImage* ipm_image [static]

struct kinematicsparams_label kinematicsparams[2]

IplImage* laser_mask_img

IplImage* laser_mask_img = NULL

carmen_laser_laser_message laser_msg

IplImage* lasermask_tmp

IplImage* lasermask_tmp = NULL

double listpan[_LISTSIZE_]

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

double listpan[_LISTSIZE_]

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

double listtilt[_LISTSIZE_]

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

double listtilt[_LISTSIZE_]

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

double listtimestamp[_LISTSIZE_]

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

double listtimestamp[_LISTSIZE_]

Referenced by interpolate_panandtilt(), and ptucontrol_status_handler().

int new_mask_val_tmp = 255 [static]

Referenced by fill_group_lines(), and removegroups_innerspots().

double newptupan

double newptutilt

IplImage* pimage

Referenced by query_image_handler().

IplImage* pimage

Referenced by query_image_handler().

carmen_ptucontrol_status_message ptu_status

carmen_ptucontrol_status_message ptu_status

ipm_query_data_message query_msg

ipm_query_data_message query_msg [static]

ipm_data_message response_msg

Referenced by query_image_handler(), and query_sensordata_handler().

ipm_data_message response_msg [static]

ipm_data_message sensordata

Referenced by main().

ipm_data_message* sensordata

TYPE_shm shm

Referenced by main(), and query_shminfo_handler().

double TILT = -50

double timestamp_0

Referenced by query_sensordata_handler().

double timestamp_0 [static]

double timestamp_1

double timestamp_1 [static]

IplImage* ubcamera_nroad_image_0

IplImage* ubcamera_nroad_image_0 [static]

IplImage * ubcamera_nroad_image_1

IplImage * ubcamera_nroad_image_1 [static]

char ubcamera_nroad_image_message_heartbeat = FALSE

char ubcamera_nroad_image_message_imageaquired = FALSE

struct undistortparams_label undistortparams[2]

char uselaser = 0 [static]