#include <mrpt/config.h>
#include <mrpt/system/os.h>
#include <mrpt/utils/utils_impexp.h>
#include <cstddef>
#include <stdlib.h>
#include <cstdlib>
#include <cmath>
#include <vector>
#include <set>
#include <algorithm>
#include <iterator>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <cstring>
#include <exception>
#include <stdexcept>
#include <limits>
#include <sstream>
#include <mrpt/otherlibs/stlplus/smart_ptr.hpp>
#include <mrpt/utils/types.h>

Include dependency graph for utils_defs.h:

Classes
struct	mrpt::utils::CProfilerProxy
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
namespace	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
namespace	mrpt::system
	This namespace provides a OS-independent interface to many useful functions: filenames manipulation, time and date, string parsing, file I/O, threading, memory allocation, etc.
namespace	mrpt::math
	This base provides a set of functions for maths stuff.
Defines
#define	_IAMINUTILSDEFS_H
#define	BOOST_JOIN(X, Y) BOOST_DO_JOIN( X, Y )
#define	BOOST_DO_JOIN(X, Y) BOOST_DO_JOIN2(X,Y)
#define	BOOST_DO_JOIN2(X, Y) X##Y
#define	MRPT_DEPRECATED_PRE(_MSG)
#define	MRPT_DEPRECATED_POST(_MSG)
#define	MRPT_DECLARE_DEPRECATED_FUNCTION(__MSG, __FUNC) MRPT_DEPRECATED_PRE(__MSG) __FUNC MRPT_DEPRECATED_POST(__MSG)
	Usage: MRPT_DECLARE_DEPRECATED_FUNCTION("Use XX instead", void myFunc(double));.
#define	MRPT_DO_PRAGMA(x)
	Declare MRPT_TODO(message).
#define	MRPT_TODO(x) MRPT_DO_PRAGMA(message ("TODO: " #x))
#define	MRPT_printf_format_check(_FMT_, _VARARGS_)
#define	MRPT_scanf_format_check(_FMT_, _VARARGS_)
#define	MRPT_NO_THROWS throw()
	Used after member declarations.
#define	MRPT_ALIGN16
#define	MRPT_ALIGN32
#define	__CURRENT_FUNCTION_NAME__ __PRETTY_FUNCTION__
	A macro for obtaining the name of the current function:
#define	THROW_EXCEPTION(msg)
#define	THROW_EXCEPTION_CUSTOM_MSG1(msg, param1)
#define	THROW_TYPED_EXCEPTION(msg, exceptionClass)
	Defines a unified way of reporting exceptions of type different from "std::exception".
#define	THROW_TYPED_EXCEPTION_CUSTOM_MSG1(msg, param1, exceptionClass)
#define	THROW_STACKED_EXCEPTION(e)
#define	THROW_STACKED_EXCEPTION_CUSTOM_MSG1(e, msg)
#define	THROW_STACKED_EXCEPTION_CUSTOM_MSG2(e, stuff, param1)
#define	MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(V) THROW_EXCEPTION(mrpt::format("Cannot parse object: unknown serialization version number: '%i'",static_cast<int>(version)))
	For use in CSerializable implementations.
#define	ASSERTMSG_(f, __ERROR_MSG) { }
#define	ASSERT_(f) { }
#define	MRPT_CHECK_NORMAL_NUMBER(val) { }
#define	MRPT_COMPILE_TIME_ASSERT(f) { }
#define	ASSERTDEB_(f) { }
	Defines an assertion mechanism - only when compiled in debug.
#define	MRPT_UNUSED_PARAM(a) (void)(a)
	Can be used to avoid "not used parameters" warnings from the compiler.
#define	MRPT_TRY_START
#define	MRPT_TRY_END
#define	MRPT_TRY_END_WITH_CLEAN_UP(stuff)
#define	MRPT_PROFILE_FUNC_START
#define	MRPT_START
#define	MRPT_END MRPT_TRY_END
#define	MRPT_END_WITH_CLEAN_UP(stuff) MRPT_TRY_END_WITH_CLEAN_UP(stuff)
#define	M_PI 3.14159265358979323846264338327950288
	The PI constant.
#define	M_2PI 6.283185307179586476925286766559
	The 2*PI constant.
#define	M_PIf 3.14159265358979f
#define	M_2PIf 6.28318530717959f
Functions
std::string MRPTDLLIMPEXP	mrpt::format (const char *fmt,...) MRPT_printf_format_check(1
	A std::string version of C sprintf.
std::string MRPTDLLIMPEXP	mrpt::system::stack_trace (bool calling_from_exception=false)
	Dumps the current program stack with detailed information of source files and lines.
bool MRPTDLLIMPEXP	mrpt::math::isNaN (float f) MRPT_NO_THROWS
	Returns true if the number is NaN.
bool MRPTDLLIMPEXP	mrpt::math::isNaN (double f) MRPT_NO_THROWS
	Returns true if the number is NaN.
bool MRPTDLLIMPEXP	mrpt::math::isFinite (float f) MRPT_NO_THROWS
	Returns true if the number is non infinity.
bool MRPTDLLIMPEXP	mrpt::math::isFinite (double f) MRPT_NO_THROWS
	Returns true if the number is non infinity.
template<typename T >
const T	min3 (const T &A, const T &B, const T &C)
template<typename T >
const T	max3 (const T &A, const T &B, const T &C)
template<class MATRIXLIKE >
size_t	mrpt::math::size (const MATRIXLIKE &m, int dim)
double	mrpt::utils::DEG2RAD (const double x)
	Degrees to radians.
float	mrpt::utils::DEG2RAD (const float x)
	Degrees to radians.
float	mrpt::utils::DEG2RAD (const int x)
	Degrees to radians.
double	mrpt::utils::RAD2DEG (const double x)
	Radians to degrees.
float	mrpt::utils::RAD2DEG (const float x)
	Radians to degrees.
template<typename T >
int	mrpt::utils::sign (T x)
	Returns the sign of X as "1" or "-1".
template<typename T >
int	mrpt::utils::signWithZero (T x)
	Returns the sign of X as "0", "1" or "-1".
template<typename T >
int	mrpt::utils::round (const T value)
	Returns the closer integer (int) to x.
template<typename T >
long	mrpt::utils::round_long (const T value)
	Returns the closer integer (long) to x.
template<typename T >
int	mrpt::utils::fix (T x)
	Rounds toward zero.
template<class T >
T	mrpt::utils::square (const T &x)
	Inline function for the square of a number.
template<class R , class P >
R *	mrpt::utils::getAs (stlplus::smart_ptr_clone< P > &o)
	Utility to get a cast'ed pointer from a smart pointer.
template<class R , class P >
const R *	mrpt::utils::getAs (const stlplus::smart_ptr_clone< P > &o)
	Utility to get a cast'ed pointer from a smart pointer.
template<class T >
void	mrpt::utils::reverseBytes (const T &v_in, T &v_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian).
template<typename T , typename K >
void	mrpt::utils::keep_min (T &var, const K test_val)
	If the second argument is below the first one, set the first argument to this lower value.
template<typename T , typename K >
void	mrpt::utils::keep_max (T &var, const K test_val)
	If the second argument is above the first one, set the first argument to this higher value.
template<class T >
void	mrpt::utils::delete_safe (T *&ptr)
	Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL.
Auxiliary stuff for the global profiler used in MRPT_START / MRPT_END macros.

void MRPTDLLIMPEXP	mrpt::utils::global_profiler_enter (const char *func_name) MRPT_NO_THROWS
void MRPTDLLIMPEXP	mrpt::utils::global_profiler_leave (const char *func_name) MRPT_NO_THROWS
Directories, files, and file names

std::string MRPTDLLIMPEXP	mrpt::system::extractFileName (const std::string &filePath)
	Extract just the name (without extension) of a filename from a complete path plus name plus extension.

Define Documentation

#define __CURRENT_FUNCTION_NAME__ __PRETTY_FUNCTION__

A macro for obtaining the name of the current function:

Definition at line 267 of file utils_defs.h.

#define _IAMINUTILSDEFS_H

Definition at line 70 of file utils_defs.h.

#define ASSERT_ ( f ) { }

Definition at line 415 of file utils_defs.h.

#define ASSERTDEB_ ( f ) { }

Defines an assertion mechanism - only when compiled in debug.

Note:: Do NOT put code that must be always executed inside this statement, but just comparisons. This is because users might require ASSERT_'s to be ignored for optimized releases.

See also:: MRPT_TRY_START, MRPT_TRY_END

Definition at line 427 of file utils_defs.h.

Referenced by mrpt::math::CArray< float, NROWS *NCOLS >::assign(), mrpt::math::detail::invMatrix_destroySrc(), mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::KF_aux_estimate_obs_Hx_jacobian(), mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::KF_aux_estimate_obs_Hy_jacobian(), mrpt::math::mahalanobisDistance2(), mrpt::math::mahalanobisDistance2AndLogPDF(), mrpt::math::normalPDF(), mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::runOneKalmanIteration(), mrpt::bayes::detail::runOneKalmanIteration_addNewLandmarks(), mrpt::math::weightedHistogram(), and mrpt::math::weightedHistogramLog().

#define ASSERTMSG_	(	f,
		__ERROR_MSG
	)		{ }

Definition at line 414 of file utils_defs.h.

#define BOOST_DO_JOIN	(	X,
		Y
	)		BOOST_DO_JOIN2(X,Y)

Definition at line 86 of file utils_defs.h.

#define BOOST_DO_JOIN2	(	X,
		Y
	)		X##Y

Definition at line 87 of file utils_defs.h.

#define BOOST_JOIN	(	X,
		Y
	)		BOOST_DO_JOIN( X, Y )

Definition at line 85 of file utils_defs.h.

#define M_2PI 6.283185307179586476925286766559

The 2*PI constant.

Definition at line 521 of file utils_defs.h.

Referenced by mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfa2index(), mrpt::utils::CEnhancedMetaFile::ellipseGaussian(), mrpt::utils::CCanvas::ellipseGaussian(), mrpt::math::mahalanobisDistance2AndLogPDF(), mrpt::math::productIntegralAndMahalanobisTwoGaussians(), mrpt::math::productIntegralTwoGaussians(), and mrpt::math::wrapTo2PiInPlace().

#define M_2PIf 6.28318530717959f

Definition at line 525 of file utils_defs.h.

#define M_PI 3.14159265358979323846264338327950288

The PI constant.

Definition at line 515 of file utils_defs.h.

Referenced by mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfa2index(), mrpt::opengl::CPolyhedron::CreateCupola(), mrpt::opengl::CPolyhedron::CreateIcosahedron(), mrpt::opengl::CPolyhedron::CreateRhombicuboctahedron(), mrpt::utils::DEG2RAD(), mrpt::reactivenav::CParameterizedTrajectoryGenerator::index2alfa(), and mrpt::math::wrapToPi().

#define M_PIf 3.14159265358979f

Definition at line 524 of file utils_defs.h.

Referenced by mrpt::utils::DEG2RAD().

#define MRPT_ALIGN16

Definition at line 176 of file utils_defs.h.

#define MRPT_ALIGN32

Definition at line 177 of file utils_defs.h.

#define MRPT_CHECK_NORMAL_NUMBER ( val ) { }

Definition at line 416 of file utils_defs.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_particlesEvaluator_AuxPFOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_particlesEvaluator_AuxPFStandard().

#define MRPT_COMPILE_TIME_ASSERT ( f ) { }

Definition at line 417 of file utils_defs.h.

Referenced by mrpt::math::CMatrixFixedNumeric< float, 4, 4 >::CMatrixFixedNumeric(), mrpt::math::CMatrixTemplate< TPoint3D >::CMatrixTemplate(), mrpt::math::loadVector(), mrpt::math::make_vector(), and mrpt::math::CMatrixTemplate< TPoint3D >::operator=().

#define MRPT_DECLARE_DEPRECATED_FUNCTION	(	__MSG,
		__FUNC
	)		MRPT_DEPRECATED_PRE(__MSG) __FUNC MRPT_DEPRECATED_POST(__MSG)

Usage: MRPT_DECLARE_DEPRECATED_FUNCTION("Use XX instead", void myFunc(double));.

Definition at line 138 of file utils_defs.h.

#define MRPT_DEPRECATED_POST ( _MSG )

Definition at line 134 of file utils_defs.h.

#define MRPT_DEPRECATED_PRE ( _MSG )

Definition at line 133 of file utils_defs.h.

#define MRPT_DO_PRAGMA ( x )

Declare MRPT_TODO(message).

Definition at line 146 of file utils_defs.h.

#define MRPT_END MRPT_TRY_END

Definition at line 503 of file utils_defs.h.

#define MRPT_END_WITH_CLEAN_UP ( stuff ) MRPT_TRY_END_WITH_CLEAN_UP(stuff)

Definition at line 506 of file utils_defs.h.

Referenced by mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::math::detail::eigenVectorsMatrix(), mrpt::utils::CEnhancedMetaFile::ellipseGaussian(), mrpt::utils::CCanvas::ellipseGaussian(), and mrpt::utils::CMHPropertiesValuesList::setElemental().

#define MRPT_NO_THROWS throw()

Used after member declarations.

Definition at line 165 of file utils_defs.h.

#define MRPT_printf_format_check	(	_FMT_,
		_VARARGS_
	)

Definition at line 155 of file utils_defs.h.

#define MRPT_PROFILE_FUNC_START

Definition at line 492 of file utils_defs.h.

#define MRPT_scanf_format_check	(	_FMT_,
		_VARARGS_
	)

Definition at line 161 of file utils_defs.h.

#define MRPT_START

Value:

MRPT_PROFILE_FUNC_START \
        MRPT_TRY_START

Definition at line 499 of file utils_defs.h.

#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION ( V ) THROW_EXCEPTION(mrpt::format("Cannot parse object: unknown serialization version number: '%i'",static_cast<int>(version)))

For use in CSerializable implementations.

Definition at line 371 of file utils_defs.h.

#define MRPT_TODO ( x ) MRPT_DO_PRAGMA(message ("TODO: " #x))

Definition at line 149 of file utils_defs.h.

#define MRPT_TRY_END

Definition at line 485 of file utils_defs.h.

#define MRPT_TRY_END_WITH_CLEAN_UP ( stuff )

Definition at line 486 of file utils_defs.h.

#define MRPT_TRY_START

Definition at line 484 of file utils_defs.h.

#define MRPT_UNUSED_PARAM ( a ) (void)(a)

Can be used to avoid "not used parameters" warnings from the compiler.

Definition at line 434 of file utils_defs.h.

Referenced by mrpt::bayes::CParticleFilterCapable::defaultEvaluator(), mrpt::hwdrivers::CSerialPort::Seek(), and mrpt::utils::CClientTCPSocket::Seek().

#define THROW_EXCEPTION ( msg )

Value:

{\
                std::ostringstream auxCompStr;\
                auxCompStr << "\n\n =============== MRPT EXCEPTION =============\n";\
                auxCompStr << __CURRENT_FUNCTION_NAME__ << ", line " << __LINE__ << ":\n";\
                auxCompStr << msg << std::endl; \
                auxCompStr << mrpt::system::stack_trace(); \
                throw std::logic_error( auxCompStr.str() );\
        }\

Parameters:

msg

This can be a char*, a std::string, or a literal string. Defines a unified way of reporting exceptions

See also:: MRPT_TRY_START, MRPT_TRY_END, THROW_EXCEPTION_CUSTOM_MSG1

Definition at line 276 of file utils_defs.h.

#define THROW_EXCEPTION_CUSTOM_MSG1	(	msg,
		param1
	)

Value:

{\
                std::ostringstream auxCompStr;\
                auxCompStr << "\n\n =============== MRPT EXCEPTION =============\n";\
                auxCompStr << __CURRENT_FUNCTION_NAME__ << ", line " << __LINE__ << ":\n";\
                auxCompStr << mrpt::format(msg,param1)<< std::endl; \
                auxCompStr << mrpt::system::stack_trace(); \
                throw std::logic_error( auxCompStr.str() );\
        }\

Parameters:

	e	The caught exception.
	msg	Is a char* or literal string.

Referenced by mrpt::utils::CConsoleRedirector::CConsoleRedirector(), mrpt::math::CDijkstra< TYPE_EDGES >::CDijkstra(), mrpt::utils::CMHPropertiesValuesList::getElemental(), mrpt::math::CMatrixTemplate< TPoint3D >::loadFromTextFile(), mrpt::math::CMatrixFixedNumeric< float, 4, 4 >::loadFromTextFile(), mrpt::math::CMatrixTemplate< TPoint3D >::operator()(), mrpt::math::detail::saveMatrixToTextFile(), and mrpt::math::size().

#define THROW_STACKED_EXCEPTION ( e )

Value:

{\
                std::string str( e.what() );\
                if (str.find("MRPT stack trace")==std::string::npos) \
                { \
                        str+= __CURRENT_FUNCTION_NAME__;\
                        str+= mrpt::format(", line %i:\n", __LINE__ );\
                        if (str.size()>3000) { std::cerr << "TOO MANY STACKED EXCEPTIONS!: " << std::endl << str << std::endl; abort(); } \
                        throw std::logic_error( str );\
                } \
                else throw std::logic_error( e.what() );\
        }\

See also:: MRPT_TRY_START, MRPT_TRY_END

Definition at line 333 of file utils_defs.h.

#define THROW_STACKED_EXCEPTION_CUSTOM_MSG1	(	e,
		msg
	)

Value:

{\
                std::ostringstream auxCompStr;\
                auxCompStr << e.what() ;  \
                auxCompStr << msg << std::endl; \
                throw std::logic_error( auxCompStr.str() );\
        }\

Definition at line 350 of file utils_defs.h.

#define THROW_STACKED_EXCEPTION_CUSTOM_MSG2	(	e,
		stuff,
		param1
	)

Value:

{\
                std::ostringstream auxCompStr;\
                auxCompStr << e.what() ;  \
                auxCompStr << mrpt::format( stuff, param1 ) << std::endl; \
                throw std::logic_error( auxCompStr.str() );\
        }\

Definition at line 362 of file utils_defs.h.

#define THROW_TYPED_EXCEPTION	(	msg,
		exceptionClass
	)

Value:

{\
                std::ostringstream auxCompStr;\
                auxCompStr << "\n\n =============== MRPT EXCEPTION =============\n";\
                auxCompStr << __CURRENT_FUNCTION_NAME__ << ", line " << __LINE__ << ":\n";\
                auxCompStr << msg << std::endl; \
                auxCompStr << mrpt::system::stack_trace(); \
                throw exceptionClass( auxCompStr.str() );\
        }\

Defines a unified way of reporting exceptions of type different from "std::exception".

See also:: MRPT_TRY_START, MRPT_TRY_END

Definition at line 305 of file utils_defs.h.

#define THROW_TYPED_EXCEPTION_CUSTOM_MSG1	(	msg,
		param1,
		exceptionClass
	)

Value:

{\
                std::ostringstream auxCompStr;\
                auxCompStr << "\n\n =============== MRPT EXCEPTION =============\n";\
                auxCompStr << __CURRENT_FUNCTION_NAME__ << ", line " << __LINE__ << ":\n";\
                auxCompStr << mrpt::format(msg,param1)<< std::endl; \
                auxCompStr << mrpt::system::stack_trace(); \
                throw exceptionClass( auxCompStr.str() );\
        }\

Definition at line 319 of file utils_defs.h.

Function Documentation

template<typename T >

const T max3	(	const T &	A,
		const T &	B,
		const T &	C
	)			`[inline]`

Definition at line 555 of file utils_defs.h.

template<typename T >

const T min3	(	const T &	A,
		const T &	B,
		const T &	C
	)			`[inline]`

Definition at line 554 of file utils_defs.h.

utils_defs.h File Reference

Classes

Namespaces

Defines

Functions

Define Documentation

Function Documentation