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psi_action.h File Reference
#include <l_cpp/l_exception.h>
#include <string>
#include <vector>
#include <psi_cpp/psi_units.h>
#include <people_tracking_cpp/pt_entity.h>
#include <boost/function.hpp>

Go to the source code of this file.


struct  kjb::psi::Action
struct  kjb::psi::Action_descriptor


 Classes and functions for dealing with trajectory files.


enum  kjb::psi::Action_type {


const std::string & kjb::psi::get_name (Action_type t)
 Convert Action_type to string. More...
Unit_type kjb::psi::get_units (Action_type a, size_t i)
Action_type kjb::psi::action_name_to_type (const std::string &name)
 Convert string to Action_type. More...
double kjb::psi::get_action_duration (const Action &action)
void kjb::psi::validate (const Action &a)
 Check that an action is consistent (correct number of parameters, etc) More...
Action kjb::psi::make_walk_through_points_action (const std::vector< std::vector< double > > &points)
 Construct a walk along the trajectory specified by the points. More...
Action kjb::psi::make_follow_action (double duration, size_t parent_type, size_t parent_index, double time_behind)
Action kjb::psi::make_walk_action (double duration, double speed)
 Construct a walk action. More...
Action kjb::psi::make_walk_in_arc_action (double duration, double speed, double angular_speed)
 Construct a walk-in-arc action. More...
Action kjb::psi::make_null_action (double duration)
 Construct a null action. More...
size_t kjb::psi::get_num_waypoints (size_t param_size)
 Get the number of waypoints from the size of the parameters parameters is in size of 3*num_waypoints+1. More...
size_t kjb::psi::to_x_index (size_t i)
 Get the x index of the i'th point. More...
size_t kjb::psi::to_z_index (size_t i)
 Get the z index of the i'th point. More...
size_t kjb::psi::to_time_index (size_t i)
 Get the time point index of the i'th point. More...
std::ostream & kjb::psi::operator<< (std::ostream &ost, const Action &action)
 serialize an action More...
std::istream & kjb::psi::operator>> (std::istream &ist, Action &action)
 unserialize an action More...
Action kjb::psi::parse_cli_action (const std::string &str)
 read an action that is specified using command-line-interface format More...