CxUtils Namespace Reference

Namespaces
namespace	JPEG
namespace	PNG
Classes
class	CircularArray
	Template for creating circular arrays. More...
class	FileFinder
	Class used for standardizing the retrieval of resource files. More...
class	FileIO
	Contains functions for creating and deleting files/directories and scanning for files. More...
class	Image
	Simple image data structure for storing RAW image data and for easy conversion to/from a few compression formats. More...
class	MappedMemory
	The MappedMemory data structure implements shared/mapped memory that can be accessed between threads/processes. It can be used in a similar manner to the Packet class. More...
class	MappedMessageBox
	Message storage class for sharing packet or string data between threads/processes using shared memory. This MappedMessageBox class is only compatible with other programs using the same from CxUtils. More...
class	MessageClient
	Client interface to subscribe to/get messages from the MessageServer class. All messages are received through shared memory and can work between processes. More...
class	MessageServer
	Class to create a server that can detect clients processes and distribute messages to them using mapped/shared memory. More...
class	Joystick
	Simple Joystick class for interfacing to a joystick. More...
class	Keyboard
	Static methods for determining if a key is currently being pressed and to generate keyboard/key events. More...
class	Wgs
	Simple World Geodetic System (WGS) latitude and longitude coordinate system data structure. More...
class	Utm
	Simple Universal Transverse Mercator (UTM) coordinate system data structure. More...
class	Gcc
	Simple Geo-Centric Coordinate (GCC) system data structure. More...
class	Orientation
	Simple class for doing angle difference or other needed orientation methods. More...
class	Matrix
	Simple matrix data structure. More...
class	PIDController
	A generic PID controller. This can be used for any application that needs to handle oscillations using a PID controller. Specific examples using a PID controller are maintain velocity, heading, or position. More...
class	Point3D
	Simple 3D point structure. More...
class	Quaternion
	Simple quaternion representation. More...
class	RunningStats
	A simple class for dynamically calculating certain statistics such as Mean, Variance, Standard Deviation, and Average. More...
class	Segment3D
	Simple 3D Line Segment structure. Class contains methods for basic geometric relationships between segments and points in 3D space. More...
class	Mouse
	Static methods for determining the current position of the mouse cursor on the screen and to emulate mouse movements and button clicks. More...
class	Mutex
	Cross platform mutex structure for thread safe operations. This structure has been defined to work in both Windows and Linux operating systems. More...
class	IP4Address
	Simple IPv4 Network Address structure. More...
class	IP6Address
	Simple IPv6 Network Address structure. More...
class	IPAddress
	Simple IP Network Address structure. More...
class	Socket
	Basic socket structure for creating network connections. All specific sockets inherit from this class (UDP, TCP). More...
class	TcpClient
	Socket which connects over TCP to a server. More...
class	TcpListenSocket
	Socket which listens for incomming TCP client connections, and creates TcpServerSockets. More...
class	TcpServer
	Socket created by TcpListenSocket which maintains a connection to a TCP client. Capable of sending/receiving packet data from/to client. More...
class	UdpClient
	Socket structure sending UDP messages. More...
class	UdpServer
	Socket structure for receiving and UDP/IP messages. More...
class	UdpSharedServer
	UDP Server software that can be used to run multiple applications that can receive unicast UDP messages simultaneously. More...
class	Packet
	Data structure for storing message data into a buffer. More...
class	Serial
	Serial (RS232) communication interface. More...
class	Thread
	Cross-platform class for creating threads for functions or adding thread capabilities to a class using inheritence. More...
class	Time
	A simple time structure. All time values are UTC. More...
class	Timer
	Simple cross-platform Timer interface. Timer can be used for more accurate delay/sleep statement (1 ms accuracy), and for creating a periodic timed event with high accuracy. More...
class	JoystickInterface
	Internal wrapper interface for the Joystick class implementation to encapsulate Windowns and Linux code. More...
Typedefs
typedef Joystick::Callback	JoystickCallback
typedef Point3D	Vector3D
	This type definition replaces a previously used Vector3D class which had duplicate functionality to that of Point3D.
typedef UdpClient	UdpSender
	Type defintiion.
typedef UdpServer	UdpReceiver
	Type defintiion.
typedef Timer::Callback	TimerCallback
	Typedef for backwards compatibility.
Functions
int CX_UTILS_DLL	GetChar ()
CX_UTILS_DLL void	GccXyzToWgsHpr (const Gcc &gcc, const Point3D &xyz, Wgs &wgs, Point3D &hpr)
	Converts from a GCC position and DIS/XYZ orientation to a WGS and Heading-Pitch-Roll orientation.
CX_UTILS_DLL void	WgsHprToGccXyz (const Wgs &wgs, const Point3D &hpr, Gcc &gcc, Point3D &xyz)
	Converts from a WGS position and Heading-Pitch-Roll orientation to a GCC position and DIS/XYZ orientation.
CX_UTILS_DLL void	WgsHprToGccXyz (const Wgs &wgs, const Point3D &hpr, Point3D &xyz)
	Converts Heading-Pitch-Roll orientation to a GCC position XYZ orientation at a geodetic location.
void	WgsToUtm (const Wgs &wgs, Utm &utm)
	Convert WGS position to UTM position.
void	WgsToGcc (const Wgs &wgs, Gcc &gcc)
	Convert WGS position to GCC position.
void	UtmToWgs (const Utm &utm, Wgs &wgs)
	Convert UTM position to WGS position.
void	UtmToGcc (const Utm &utm, Gcc &gcc)
	Convert UTM position to GCC position.
void	GccToWgs (const Gcc &gcc, Wgs &wgs)
	Convert GCC position to WGS position.
void	GccToUtm (const Gcc &gcc, Utm &utm)
	Convert GCC position to UTM position.
double	CxToRadians (const double deg)
	Converts from degrees to radians.
double	CxToDegrees (const double rad)
	Converts from radians to degrees.
CX_UTILS_DLL Quaternion	operator~ (const Quaternion &q)
CX_UTILS_DLL void	SleepMs (const unsigned int ms)
	Method for performing a sleep statement.
CX_UTILS_DLL unsigned long long int	GetTimeMs ()
CX_UTILS_DLL double	GetTimeSeconds ()
CX_UTILS_DLL void	GetSystemTime (unsigned int &day, unsigned int &hour, unsigned int &minute, unsigned int &second, unsigned int &msecond)
	Gets the current system time (UTC).
CX_UTILS_DLL void	GetSystemTime (unsigned short &day, unsigned short &hour, unsigned short &minute, unsigned short &second, unsigned short &msecond)
	Gets the current system time (UTC).
CX_UTILS_DLL bool	SetSystemTime (unsigned int year, unsigned int month, unsigned int day, unsigned int hour, unsigned int minute, unsigned int second, unsigned int msecond)
	Sets the current system time (UTC). You will need system privalages to make this function call. Advise not to use.
Variables
const double	CX_PI = 3.14159265358979323846
	Value of PI.
const double	CX_HALF_PI = 1.57079632679489661923
	PI divided by 2.0.
const double	CX_FOURTH_PI = 0.785398163397448309615
	PI diviced by 4.0.
const double	CX_PI_OVER_180 = 0.0174532925199432957692222
	PI divided by 180.0.
const double	CX_180_OVER_PI = 57.295779513082320876846364
	180 dividied by PI.
const double	CX_TWO_PI = 6.28318530717958647692
	PI * 2.
const double	CX_EPSILON = .00000000000000000000001
	Small number to prevent divide by 0.
const double	PI = 3.14159265358979323846
	Value of PI.
const double	Epsilon = .00000000000000000000001
	Small number to prevent divide by 0.
const unsigned int	CX_PACKET_OK = 1
	Success value on return.
const unsigned int	CX_PACKET_FAILURE = 0
	Failure value on return.
const unsigned int	CX_PACKET_BLOCK_SIZE = 32
	Allocate memory in this size byte blocks.
const unsigned int	CX_PACKET_LITTLE_ENDIAN = 0
	Little endian byte order.
const unsigned int	CX_PACKET_BIG_ENDIAN = 1
	Big endian byte order.
const int	CX_SERIAL_NO_PARITY = 0
	No parity on serial data.
const int	CX_SERIAL_EVEN_PARITY = 1
	Even parity serial data.
const int	CX_SERIAL_ODD_PARITY = 2
	Odd parity on serial data.

---

Typedef Documentation

typedef Joystick::Callback CxUtils::JoystickCallback

Definition at line 188 of file joystick.h.

typedef Timer::Callback CxUtils::TimerCallback

Typedef for backwards compatibility.

Definition at line 140 of file timer.h.

typedef UdpServer CxUtils::UdpReceiver

Type defintiion.

Definition at line 84 of file udpserver.h.

typedef UdpClient CxUtils::UdpSender

Type defintiion.

Definition at line 97 of file udpclient.h.

CxUtils::Vector3D

This type definition replaces a previously used Vector3D class which had duplicate functionality to that of Point3D.

Since a Point can be treated as a Vector, and the functionality was identical the Vector3D class was deprecated to avoid duplicating code. Use the Vector3D typedef to make your code clearer when dealing with Vectors or to support previous code written that uses Vector3D.

Definition at line 60 of file vector3d.h.

---

Function Documentation

double CxUtils::CxToDegrees

(

const double

rad )

[inline]

Converts from radians to degrees.

Parameters:

rad	Angle in radians.

Returns:

Radians angle value converted to degrees.

Definition at line 93 of file cxmath.h.

double CxUtils::CxToRadians

(

const double

deg )

[inline]

Converts from degrees to radians.

Parameters:

deg	Angle in degrees.

Returns:

Degrees value converted to radians.

Definition at line 80 of file cxmath.h.

void CxUtils::GccToUtm	(	const Gcc &	gcc,
		Utm &	utm
	)		[inline]

Convert GCC position to UTM position.

Definition at line 383 of file coordinates.h.

void CxUtils::GccToWgs	(	const Gcc &	gcc,
		Wgs &	wgs
	)		[inline]

Convert GCC position to WGS position.

Definition at line 382 of file coordinates.h.

void CxUtils::GccXyzToWgsHpr	(	const Gcc &	gcc,
		const Point3D &	xyz,
		CxUtils::Wgs &	wgs,
		CxUtils::Point3D &	hpr
	)

Converts from a GCC position and DIS/XYZ orientation to a WGS and Heading-Pitch-Roll orientation.

Use this function to convert Distributed Interactive Simulation (DIS) coordinates to Geodetic coordinates (lat, long, elevation, heading, pitch, roll).

Parameters:

gcc	Geocentric Coordinates (x, y, z).
xyz	The three Euler rotations about the x, then y, then z axis. This is in the Distributed Interactive Simulation (DIS) format. All are [-pi, pi]. Where z is the angle psi which is a rotation around the z-axis, theta/y is rotation around y, and sigma/x is the rotation around the x-axis.
wgs	WGS coordinates (latitude, longitude, elevation).
hpr	Heading, pitch, and roll, where 0 heading is facing north 0 (rotation around z-axis), pitch is level with the surface of the earth (rotation around y-axis, with y-axis positive to the right of the object), and roll is also level with the ground (rotation around x-axis with x-axis positive in front of the object). The z-axis is positive below the object. In the Point3D object the values are x=heading, y=pitch, z=roll in radians [-pi,pi].

First create these initial

Definition at line 71 of file coordinates.cpp.

int CxUtils::GetChar

(

)

Returns:

The current key being pressed (for active console), 0 if none.

Definition at line 67 of file keyboard.cpp.

void CxUtils::GetSystemTime	(	unsigned int &	day,
		unsigned int &	hour,
		unsigned int &	minute,
		unsigned int &	second,
		unsigned int &	msecond
	)

Gets the current system time (UTC).

Parameters:

day	Day of the month. 1-31.
hour	Hour of the day (24 hour clock) [0-23].
minute	Minutes [0-59].
second	Seconds [0-61].
msecond	Milliseconds [0-999].

Definition at line 126 of file time.cpp.

void CxUtils::GetSystemTime	(	unsigned short &	day,
		unsigned short &	hour,
		unsigned short &	minute,
		unsigned short &	second,
		unsigned short &	msecond
	)

Gets the current system time (UTC).

Parameters:

day	Day of the month. 1-31.
hour	Hour of the day (24 hour clock) [0-23].
minute	Minutes [0-59].
second	Seconds [0-61].
msecond	Milliseconds [0-999].

Definition at line 177 of file time.cpp.

unsigned long long int CxUtils::GetTimeMs

(

)

Returns:

The current UTC time in milliseconds.

The current UTC time (for this day of year) in milliseconds.

Definition at line 87 of file time.cpp.

double CxUtils::GetTimeSeconds

(

)

Returns:

The current UTC time in milliseconds.

The current UTC time (for this day of year) in seconds.

Definition at line 103 of file time.cpp.

CxUtils::Quaternion CxUtils::operator~

(

const Quaternion &

q )

Returns:

Conjugate of the quaternion.

Definition at line 52 of file quaternion.cpp.

bool CxUtils::SetSystemTime	(	unsigned int	year,
		unsigned int	month,
		unsigned int	day,
		unsigned int	hour,
		unsigned int	minute,
		unsigned int	second,
		unsigned int	msecond
	)

Sets the current system time (UTC). You will need system privalages to make this function call. Advise not to use.

Gets the current system time (UTC).

Parameters:

year	Year 1601 - 30827.
month	Month [1-12].
day	Day of the month. 1-31.
hour	Hour of the day (24 hour clock) [0-23].
minute	Minutes [0-59].
second	Seconds [0-61].
msecond	Milliseconds [0-999].
year	Year 1900- 30827.
month	Month [1-12].
day	Day of the month. 1-31.
hour	Hour of the day (24 hour clock) [0-23].
minute	Minutes [0-59].
second	Seconds [0-61].
msecond	Milliseconds [0-999].

Definition at line 219 of file time.cpp.

void CxUtils::SleepMs

(

const unsigned int

ms )

Method for performing a sleep statement.

This function is very useful during endless loops in code to prevent maxing out of the computers CPU by putting a 1ms sleep statement.

Parameters:

ms	How long to sleep in milliseconds.

Definition at line 73 of file time.cpp.

void CxUtils::UtmToGcc	(	const Utm &	utm,
		Gcc &	gcc
	)		[inline]

Convert UTM position to GCC position.

Definition at line 381 of file coordinates.h.

void CxUtils::UtmToWgs	(	const Utm &	utm,
		Wgs &	wgs
	)		[inline]

Convert UTM position to WGS position.

Definition at line 380 of file coordinates.h.

void CxUtils::WgsHprToGccXyz	(	const Wgs &	wgs,
		const Point3D &	hpr,
		CxUtils::Point3D &	xyz
	)

Converts Heading-Pitch-Roll orientation to a GCC position XYZ orientation at a geodetic location.

Use this function to convert Geodetic head/pitch/roll data to Distributed Interactive Simulation (DIS) orientation (x/psi, y/theta, z/phi).

Parameters:

wgs	WGS coordinates (latitude, longitude, elevation).
hpr	Heading, pitch, and roll, where 0 heading is facing north 0 (rotation around z-axis), pitch is level with the surface of the earth (rotation around y-axis, with y-axis positive to the right of the object), and roll is also level with the ground (rotation around x-axis with x-axis positive in front of the object). The z-axis is positive below the object. In the Point3D object the values are x=heading, y=pitch, z=roll in radians [-pi,pi].
xyz	The three Euler rotations about the x, then y, then z axes. This is in the Distributed Interactive Simulation (DIS) format. All are [-pi, pi]. Where z is the angle psi which is a rotation around the z-axis, theta/y is rotation around y, and sigma/x is the rotation around the x-axis.

Definition at line 259 of file coordinates.cpp.

void CxUtils::WgsHprToGccXyz	(	const Wgs &	wgs,
		const Point3D &	hpr,
		CxUtils::Gcc &	gcc,
		CxUtils::Point3D &	xyz
	)

Converts from a WGS position and Heading-Pitch-Roll orientation to a GCC position and DIS/XYZ orientation.

Use this function to convert Geodetic position and head/pitch/roll data to Distributed Interactive Simulation (DIS) coordinates (X,Y,Z, psi, theta, phi).

Parameters:

wgs	WGS coordinates (latitude, longitude, elevation).
hpr	Heading, pitch, and roll, where 0 heading is facing north 0 (rotation around z-axis), pitch is level with the surface of the earth (rotation around y-axis, with y-axis positive to the right of the object), and roll is also level with the ground (rotation around x-axis with x-axis positive in front of the object). The z-axis is positive below the object. In the Point3D object the values are x=heading, y=pitch, z=roll in radians [-pi,pi].
gcc	Geocentric Coordinates (x, y, z).
xyz	The three Euler rotations about the x, then y, then z axis. This is in the Distributed Interactive Simulation (DIS) format. All are [-pi, pi]. Where z is the angle psi which is a rotation around the z-axis, theta/y is rotation around y, and sigma/x is the rotation around the x-axis.

Definition at line 168 of file coordinates.cpp.

void CxUtils::WgsToGcc	(	const Wgs &	wgs,
		Gcc &	gcc
	)		[inline]

Convert WGS position to GCC position.

Definition at line 379 of file coordinates.h.

void CxUtils::WgsToUtm	(	const Wgs &	wgs,
		Utm &	utm
	)		[inline]

Convert WGS position to UTM position.

Definition at line 378 of file coordinates.h.

---

Variable Documentation

const double CxUtils::CX_180_OVER_PI = 57.295779513082320876846364

180 dividied by PI.

Definition at line 64 of file cxmath.h.

const double CxUtils::CX_EPSILON = .00000000000000000000001

Small number to prevent divide by 0.

Definition at line 66 of file cxmath.h.

const double CxUtils::CX_FOURTH_PI = 0.785398163397448309615

PI diviced by 4.0.

Definition at line 62 of file cxmath.h.

const double CxUtils::CX_HALF_PI = 1.57079632679489661923

PI divided by 2.0.

Definition at line 61 of file cxmath.h.

const unsigned int CxUtils::CX_PACKET_BIG_ENDIAN = 1

Big endian byte order.

Definition at line 82 of file packet.h.

const unsigned int CxUtils::CX_PACKET_BLOCK_SIZE = 32

Allocate memory in this size byte blocks.

Definition at line 80 of file packet.h.

const unsigned int CxUtils::CX_PACKET_FAILURE = 0

Failure value on return.

Definition at line 79 of file packet.h.

const unsigned int CxUtils::CX_PACKET_LITTLE_ENDIAN = 0

Little endian byte order.

Definition at line 81 of file packet.h.

const unsigned int CxUtils::CX_PACKET_OK = 1

Success value on return.

Definition at line 78 of file packet.h.

const double CxUtils::CX_PI = 3.14159265358979323846

Value of PI.

Definition at line 60 of file cxmath.h.

const double CxUtils::CX_PI_OVER_180 = 0.0174532925199432957692222

PI divided by 180.0.

Definition at line 63 of file cxmath.h.

const int CxUtils::CX_SERIAL_EVEN_PARITY = 1

Even parity serial data.

Definition at line 50 of file serial.h.

const int CxUtils::CX_SERIAL_NO_PARITY = 0

No parity on serial data.

Definition at line 49 of file serial.h.

const int CxUtils::CX_SERIAL_ODD_PARITY = 2

Odd parity on serial data.

Definition at line 51 of file serial.h.

const double CxUtils::CX_TWO_PI = 6.28318530717958647692

PI * 2.

Definition at line 65 of file cxmath.h.

const double CxUtils::Epsilon = .00000000000000000000001

Small number to prevent divide by 0.

Definition at line 69 of file cxmath.h.

const double CxUtils::PI = 3.14159265358979323846

Value of PI.

Definition at line 68 of file cxmath.h.