Tools/Debugging/DebugDrawings.h File Reference

Macros for drawing. More...

#include "Tools/Debugging/Debugging.h"
#include "Tools/Debugging/DebugKeyTable.h"
#include "DebugDrawings2.h"

Include dependency graph for DebugDrawings.h:

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Go to the source code of this file.

Classes
class	Drawings
	This class includes all enumeration types and methods that are necessary to transmit messages for debug drawings. More...
Defines
#define	CIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor)
	A macro that sends a circle.
#define	DOT(id, x, y, penColor, fillColor)
	A macro that sends a dot (a quadratic box with a border).
#define	MID_DOT(id, x, y, penColor, fillColor)
	A macro that sends a midsize dot.
#define	LARGE_DOT(id, x, y, penColor, fillColor)
	A macro that sends a dot (a quadratic box with a border).
#define	LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor)
	A macro that sends a line.
#define	COLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB)
#define	CROSS(id, x, y, size, penWidth, penStyle, penColor)
#define	ARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor)
	A macro that sends an arrow.
#define	POSE_2D_SAMPLE(id, p, color)
	A macro that sends an arrow for a pose.
#define	OCTANGLE(id, x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6, x7, y7, x8, y8, color, fill)
	A macro that sends an octangle.
#define	QUADRANGLE(id, x1, y1, x2, y2, x3, y3, x4, y4, penWidth, penStyle, penColor)
	A macro that sends an quadrangle.
#define	RECTANGLE(id, x1, y1, x2, y2, penWidth, penStyle, penColor)
	A macro that sends an rectangle.
#define	COMPLEX_DRAWING(id, expression)
	Complex drawings should be encapsuled by this macro.
#define	DEBUG_DRAWING_FINISHED(id)   INFO(send_##id##_drawing, idDebugDrawingFinished, bin, (char)Drawings::id << (char)Drawings::getTypeOfDrawing(Drawings::id) );
	Indicates that all elements of the specified drawing are drawn.

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Detailed Description

Macros for drawing.

Author:

Matthias Jüngel

Definition in file DebugDrawings.h.

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Define Documentation

#define CIRCLE (  id, center_x, center_y, radius, penWidth, penStyle, penColor   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::circle << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(center_x) << (int)(center_y) << (int)(radius) << (char)(penWidth) << \ (char)(penStyle) << (char)(penColor) \ ); A macro that sends a circle. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) center_x  The x coordinate of the center of the circle center_y  The y coordinate of the center of the circle radius  The radius of the circle penWidth  The width of the arc of the circle penStyle  The pen style of the arc of the circle (Drawings::PenStyle) penColor  The color of the arc of the circle (Drawings::Color) Definition at line 365 of file DebugDrawings.h. Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), VLCRobotSpecialist::addCandidate(), GT2005RobotSpecialist::addCandidate(), VLCLineFinder_DeterministicApproach::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), SlamSelfLocator::calcPose(), GT2005StableSelfLocator::calcPose(), GT2005SelfLocator::calcPose(), GT2005HeadControl::calculateClosestLandmark(), GT2005CenterCircleFinder::checkCircleMidpoint(), GT2005CenterCircleFinder::checkCircleMidpoint2(), VLCRobotSpecialist::clusterCandidates(), GT2005RobotSpecialist::clusterCandidates(), CircleCalculation::createCircle(), VLCRobotSpecialist::dbg_PrintGreenchanges(), GT2005RobotSpecialist::dbg_PrintGreenchanges(), GT2005PlayerSpecialist::detectBlueRobots(), GT2005PlayerSpecialist::detectRedRobots(), VLCCenterCircleFinder::determineCirclePoint(), GT2005CenterCircleFinder::determineCirclePoint(), GT2005TeamBallLocator::draw(), SlamSelfLocator::draw(), GT2005StableSelfLocator::draw(), SlamFlagLocator::draw(), GT2005BallLocator::draw(), GT2005TeamBallLocator::drawParticle(), GT2005BallLocator::drawParticle(), BallState::drawPosition(), BarCodeReader::execute(), SlamBeaconDetector::execute(), GT2005BasicBehaviorDirectedScanForLandmarks::execute(), GT2005BasicBehaviorGoaliePosition::execute(), VLCRobotSpecialist::findNearestFootPoint(), GT2005RobotSpecialist::findNearestFootPoint(), SlamBeaconDetector::findSpecial(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), Circle::getType(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), intersectGeometricObjects(), SlamSelfLocator::lineObservationUpdate(), GT2005StableSelfLocator::lineObservationUpdate(), CircleCalculation::paintBallPoints(), GT2005CenterCircleFinder::scan(), KickSelectionTable::searchKickInNeighbourhood(), SlamSelfLocator::updateByCrossing(), GT2005StableSelfLocator::updateByCrossing(), and SlamSelfLocator::updateByEstimatedDirection().

#define DOT (  id, x, y, penColor, fillColor   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::dot << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \ ); A macro that sends a dot (a quadratic box with a border). Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) x  The x coordinate of the center of the box y  The y coordinate of the center of the box penColor  The color of the border of the dot (Drawings::Color) fillColor  The color of the dot (Drawings::Color) Definition at line 382 of file DebugDrawings.h. Referenced by VLCBallSpecialist::BallPointList::add(), GT2005BallSpecialist::BallPointList::add(), VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), SlamEdgeSpecialist::addCandidate(), GT2005EdgeSpecialist::addCandidate(), GT2005ObstaclesLocator::addObstaclePoint(), GT2005ObstaclesLocator::addPSDPercept(), SlamBeaconDetector::analyzeBeacon(), GT2005PlayerSpecialist::detectBlueRobots(), VLCGoalRecognizer::detectEdge(), GT2005GoalRecognizer::detectEdge(), GT2005PlayerSpecialist::detectRedRobots(), VLCCenterCircleFinder::determineCirclePoint(), DoubleScanLinesNumber(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), GT2005PlayerSpecialist::findBlueFootPointYAxis(), GT2005PlayerSpecialist::findRedFootPointYAxis(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), SlamImageProcessor::scan(), VLCGoalRecognizer::scanCrossBar(), GT2005GoalRecognizer::scanCrossBar(), VLCBallSpecialist::scanForBallPoints(), GT2005BallSpecialist::scanForBallPoints(), VLCBeaconDetector::scanForBeaconEdges(), SlamBeaconDetector::scanForBeaconEdges(), GT2005BeaconDetector::scanForBeaconEdges(), VLCBeaconDetector::scanForBeaconPart(), SlamBeaconDetector::scanForBeaconPart(), GT2005BeaconDetector::scanForBeaconPart(), SlamGoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanHorizontalForGoals(), SlamGoalRecognizer::scanLinesForGoals(), GoalRecognizer::scanLinesForGoals(), VLCGoalRecognizer::scanOnImageBorder(), GT2005GoalRecognizer::scanOnImageBorder(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), and GT2005FlagSpecialist::searchFlags().

#define MID_DOT (  id, x, y, penColor, fillColor   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::midDot << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \ ); A macro that sends a midsize dot. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) x  The x coordinate of the center of the box y  The y coordinate of the center of the box penColor  The color of the border of the dot (Drawings::Color) fillColor  The color of the dot (Drawings::Color) Definition at line 399 of file DebugDrawings.h.

#define LARGE_DOT (  id, x, y, penColor, fillColor   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::largeDot << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \ ); A macro that sends a dot (a quadratic box with a border). Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) x  The x coordinate of the center of the box y  The y coordinate of the center of the box penColor  The color of the border of the dot (Drawings::Color) fillColor  The color of the dot (Drawings::Color) Definition at line 415 of file DebugDrawings.h. Referenced by AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::draw().

#define LINE (  id, x1, y1, x2, y2, penWidth, penStyle, penColor   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::line << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \ ); A macro that sends a line. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) x1  The x coordinate of the starting point. y1  The y coordinate of the starting point. x2  The x coordinate of the end point. y2  The y coordinate of the end point. penWidth  The width of the line penStyle  The pen style of the line (Drawings::PenStyle) penColor  The color of the line (Drawings::Color) Definition at line 434 of file DebugDrawings.h. Referenced by VLCRobotSpecialist::addCandidate(), GT2005RobotSpecialist::addCandidate(), VLCLineFinder_DeterministicApproach::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), GT2005HeadControl::calculateClosestLandmark(), VLCRobotSpecialist::clusterCandidates(), GT2005RobotSpecialist::clusterCandidates(), VLCBeaconDetector::clusterPinkBeaconParts(), SlamBeaconDetector::clusterPinkBeaconParts(), GT2005BeaconDetector::clusterPinkBeaconParts(), SlamGoalRecognizer::ColoredPartsCheck::determineLargePart(), GoalRecognizer::ColoredPartsCheck::determineLargePart(), DoubleScanLinesNumber(), VLCLineFinder_DeterministicApproach::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::draw(), GT2005TeamBallLocator::draw(), SlamSelfLocator::draw(), ObservationTable< 320, 240, 25, 25 >::draw(), GT2005StableSelfLocator::draw(), SlamFlagLocator::draw(), AngleSymbols::drawAngleShownByLeds(), BallState::drawPositionGaussian(), VLCBeaconDetector::execute(), SlamBeaconDetector::execute(), GT2005PlayerSpecialist::execute(), GT2005BeaconDetector::execute(), GT2005BasicBehaviorDirectedScanForObstacles::execute(), SLBenchmark::execute(), GT2005BasicBehaviorGoaliePosition::execute(), GT2005PlayerSpecialist::findBlueFootPointYAxis(), VLCBallSpecialist::findEndOfBall(), GT2005BallSpecialist::findEndOfBall(), VLCLineFinder_DeterministicApproach::findLineFragments(), GT2005LineFinder_DeterministicApproach::findLineFragments(), VLCLineFinder_DeterministicApproach::findLines(), GT2005LineFinder_DeterministicApproach::findLines(), VLCRobotSpecialist::findNearestFootPoint(), GT2005RobotSpecialist::findNearestFootPoint(), GT2005PlayerSpecialist::findRedFootPointYAxis(), SlamBeaconDetector::findSpecial(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), GPS::GeneralParticleSystem< Particle >::getCluster(), ObstaclesModel::getDistanceInCorridor(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), Line::getType(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), intersectGeometricObjects(), SlamSelfLocator::lineObservationUpdate(), GT2005StableSelfLocator::lineObservationUpdate(), VLCImageProcessor::plot(), SlamImageProcessor::plot(), GT2005ImageProcessor::plot(), VLCRobotSpecialist::scan(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005RobotSpecialist::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), VLCBeaconDetector::scanForPink(), SlamBeaconDetector::scanForPink(), GT2005BeaconDetector::scanForPink(), SlamGoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanHorizontalForGoals(), SlamGoalRecognizer::scanLinesForGoals(), GoalRecognizer::scanLinesForGoals(), VLCGoalRecognizer::scanOnImageBorder(), GT2005GoalRecognizer::scanOnImageBorder(), GuideDogRobotSpecialist::scanParallelToHorizon(), VLCImageProcessor::scanRows(), SlamImageProcessor::scanRows(), and GT2005ImageProcessor::scanRows().

#define COLORED_LINE (  id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::coloredLine << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColorR) << (char)(penColorG) << (char)(penColorB)\ ); Definition at line 442 of file DebugDrawings.h.

#define CROSS (  id, x, y, size, penWidth, penStyle, penColor   )

Value: LINE(id, x+size, y+size, x-size,y-size, penWidth, penStyle, penColor);\ LINE(id, x+size, y-size, x-size,y+size, penWidth, penStyle, penColor); Definition at line 450 of file DebugDrawings.h. Referenced by KickSelectionTable::searchKickInNeighbourhood().

#define ARROW (  id, x1, y1, x2, y2, penWidth, penStyle, penColor   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::arrow << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \ ); A macro that sends an arrow. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) x1  The x coordinate of the starting point. y1  The y coordinate of the starting point. x2  The x coordinate of the end point. y2  The y coordinate of the end point. penWidth  The width of the line penStyle  The pen style of the line (Drawings::PenStyle) penColor  The color of the line (Drawings::Color) Definition at line 468 of file DebugDrawings.h. Referenced by VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), VLCImageProcessor::calcEdgeAngle(), SlamImageProcessor::calcEdgeAngle(), GT2005ImageProcessor::calcEdgeAngle(), GT2005BallLocator::draw(), GT2005BallLocator::drawParticle(), BallState::drawSpeed(), VLCImageProcessor::execute(), SlamBeaconDetector::execute(), GT2005ImageProcessor::execute(), SLBenchmark::execute(), GT2005BasicBehaviorGoaliePosition::execute(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), and SLBenchmark::GoToNextTarget().

#define POSE_2D_SAMPLE (  id, p, color   )

Value: Pose2D current = p; current += Pose2D(-100,0); \ LINE(id, int(current.translation.x),int(current.translation.y), int(p.translation.x), int(p.translation.y), \ 1, Drawings::ps_solid, color); \ current = p; current += Pose2D(-40,-40); \ LINE(id, int(current.translation.x), int(current.translation.y), int(p.translation.x), int(p.translation.y), \ 1, Drawings::ps_solid, color); \ current = p; current += Pose2D(-40,40); \ LINE(id, int(current.translation.x),int(current.translation.y),int(p.translation.x), int(p.translation.y), \ 1, Drawings::ps_solid, color); \ A macro that sends an arrow for a pose. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) p  A Pose2D describing the arrow color  The color of the line arrow (Drawings::Color) Definition at line 483 of file DebugDrawings.h.

#define OCTANGLE (  id, x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6, x7, y7, x8, y8, color, fill   )

Value: INFO(send_##id##_drawing, idDebugDrawing2, bin, \ (char)Drawings::octangle << \ (char)Drawings::id << \ (char)Drawings::getTypeOfDrawing(Drawings::id) << \ (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (int)(x3) << (int)(y3) << (int)(x4) << (int)(y4) << \ (int)(x5) << (int)(y5) << (int)(x6) << (int)(y6) << (int)(x7) << (int)(y7) << (int)(x8) << (int)(y8) << \ (char)ColorClasses::colorClassToDrawingsColor(color) << (char)fill \ ); A macro that sends an octangle. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8  The coordinates of the 8 octagon vertices color  The color of the octangle fill  A boolean indicating if the octangle is filled Definition at line 501 of file DebugDrawings.h.

#define QUADRANGLE (  id, x1, y1, x2, y2, x3, y3, x4, y4, penWidth, penStyle, penColor   )

Value: LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor); \ LINE(id, x2, y2, x3, y3, penWidth, penStyle, penColor); \ LINE(id, x3, y3, x4, y4, penWidth, penStyle, penColor); \ LINE(id, x4, y4, x1, y1, penWidth, penStyle, penColor); A macro that sends an quadrangle. Parameters: x1,y1,x2,y2,x3,y3,x4,y4  The coordinates of the 4 quadrangle vertices id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) penWidth  The line width of the quadrangle penStyle  The line style, e.g. dotted penColor  The color of the quadrangle Definition at line 519 of file DebugDrawings.h.

#define RECTANGLE (  id, x1, y1, x2, y2, penWidth, penStyle, penColor   )

Value: LINE(id, x1, y1, x1, y2, penWidth, penStyle, penColor); \ LINE(id, x1, y2, x2, y2, penWidth, penStyle, penColor); \ LINE(id, x2, y2, x2, y1, penWidth, penStyle, penColor); \ LINE(id, x2, y1, x1, y1, penWidth, penStyle, penColor); A macro that sends an rectangle. Parameters: x1,y1,x2,y2  The coordinates of 2 opposite corners id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) penWidth  The line width of the rectangle penStyle  The line style, e.g. dotted penColor  The color of the quadrangle Definition at line 533 of file DebugDrawings.h. Referenced by VLCRobotSpecialist::addCandidate(), GT2005RobotSpecialist::addCandidate(), VLCRobotSpecialist::addPercept(), and GT2005RobotSpecialist::addPercept().

#define COMPLEX_DRAWING (  id, expression   )

Value: if (getDebugKeyTable().isActive(DebugKeyTable::send_##id##_drawing)) {\ expression;\ } Complex drawings should be encapsuled by this macro. Definition at line 542 of file DebugDrawings.h. Referenced by GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), SlamSelfLocator::lineObservationUpdate(), GT2005StableSelfLocator::lineObservationUpdate(), CircleCalculation::paintBallPoints(), SlamSelfLocator::resample(), GT2005StableSelfLocator::resample(), SlamGoalRecognizer::scanLinesForGoals(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search(), SlamSelfLocator::updateByFlag(), and GT2005StableSelfLocator::updateByFlag().

#define DEBUG_DRAWING_FINISHED (  id   )     INFO(send_##id##_drawing, idDebugDrawingFinished, bin, (char)Drawings::id << (char)Drawings::getTypeOfDrawing(Drawings::id) );

Indicates that all elements of the specified drawing are drawn. Parameters: id  A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing) Definition at line 551 of file DebugDrawings.h. Referenced by GT2005TeamBallLocator::draw(), GT2005BallLocator::draw(), AngleSymbols::drawAngleShownByLeds(), BarCodeReader::execute(), SlamSelfLocator::execute(), GT2005StableSelfLocator::execute(), GT2004SelfLocator::execute(), GT2005ObstaclesLocator::execute(), VLCLineFinder_DeterministicApproach::execute(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), SlamBorderFinder::execute(), GT2005LineFinder_DeterministicApproach::execute(), GT2005ImageProcessor::execute(), GT2005BasicBehaviorDirectedScanForObstacles::execute(), GT2005BasicBehaviorDirectedScanForLandmarks::execute(), GT2005BasicBehaviorGoaliePosition::execute(), VLCGoalRecognizer::notifyAboutFinish(), GT2005GoalRecognizer::notifyAboutFinish(), Motionfield::pathPlanningStillNeeded(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), and KickSelectionTable::searchKickInNeighbourhood().

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