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<a href="_common_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "<a class="code" href="_common_8h.html">Common.h</a>"</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> </div><div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="class_common.html#ab0898f6608707a3e07c22d88ecdae661"> 5</a></span> <a class="code" href="class_common.html#ab0898f6608707a3e07c22d88ecdae661">Common::Common</a>()</div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> {</div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> }</div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> std::vector<std::string> <a class="code" href="class_common.html#ab7f5af0f1add62eb22f6f9e04b9d9efa">Common::MODE_NAME</a> = { <span class="stringliteral">"Startup"</span>, <span class="stringliteral">"Detection"</span>, <span class="stringliteral">"Collect Faces"</span>, <span class="stringliteral">"Training"</span>, <span class="stringliteral">"Recognition"</span>, <span class="stringliteral">"Delete All"</span>, <span class="stringliteral">"ERROR!"</span> };</div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="class_common.html#acb1df90c29136d1a3a1dc86590d9e020"> 11</a></span> <span class="keywordtype">string</span> <a class="code" href="class_common.html#acb1df90c29136d1a3a1dc86590d9e020">Common::getTime</a>()</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> {</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  MyDebug;</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  time_t tt = time(NULL);<span class="comment">//这句返回的只是一个时间cuo</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  tm* t= localtime(&tt);</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordtype">char</span> tmp[64];</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  strftime(tmp, <span class="keyword">sizeof</span>(tmp), <span class="stringliteral">"%Y-%m-%d_%H-%M-%S"</span>, t);</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordtype">string</span> time = tmp;</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordflow">return</span> time;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> }</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="class_common.html#a6d17530adf532d3e23a35f5cf804375b"> 22</a></span> QString <a class="code" href="class_common.html#a6d17530adf532d3e23a35f5cf804375b">Common::qGetTime</a>()</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> {</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  QDateTime current_date_time =<a class="code" href="_sequence_capture_8cpp.html#aa46369f3c8adbff876c82270346fffa2">QDateTime::currentDateTime</a>();</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  QString current_date = current_date_time.toString(<span class="stringliteral">"yyyy-MM-dd_hh-mm-ss"</span>);</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordflow">return</span> current_date;</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> }</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">// Compare two images by getting the L2 error (square-root of sum of squared error).</span></div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="class_common.html#a853df4cfc36cff3eb3843437b30628fd"> 36</a></span> <span class="comment"></span><span class="keywordtype">double</span> <a class="code" href="class_common.html#a853df4cfc36cff3eb3843437b30628fd">Common::getSimilarity</a>(<span class="keyword">const</span> Mat &A, <span class="keyword">const</span> Mat &B)</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> {</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">if</span> (A.rows > 0 && A.rows == B.rows && A.cols > 0 && A.cols == B.cols)</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="comment">// Calculate the L2 relative error between the 2 images.</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordtype">double</span> errorL2 = norm(A, B, NORM_L2);</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="comment">// Convert to a reasonable scale, since L2 error is summed across all pixels of the image.</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">double</span> similarity = errorL2 / (double)(A.rows * A.cols);</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> similarity;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  }</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  {</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="comment">//cout << "WARNING: Images have a different size in 'getSimilarity()'." << endl;</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">return</span> 100000000.0; <span class="comment">// Return a bad value</span></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  }</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> }</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="class_common.html#afedb72b72fb5f44689d9c8f071b5cd6a"> 53</a></span> <span class="keywordtype">void</span> <a class="code" href="class_common.html#afedb72b72fb5f44689d9c8f071b5cd6a">Common::Mat2QImage</a>(<span class="keyword">const</span> Mat &cvImg, QImage &qImage_out)</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">//MyDebug;</span></div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  Mat invert_img;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">if</span>(cvImg.channels()==3) <span class="comment">//3 channels color image</span></div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  {</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  cv::cvtColor(cvImg,invert_img,COLOR_BGR2RGB);</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  qImage_out =QImage((<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)(invert_img.data),</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  invert_img.cols, invert_img.rows,</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  invert_img.cols*invert_img.channels(),</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  QImage::Format_RGB888);</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  }</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(cvImg.channels()==1) <span class="comment">//grayscale image</span></div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  qImage_out =QImage((<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)(cvImg.data),</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  cvImg.cols,cvImg.rows,</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  cvImg.cols*cvImg.channels(),</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  QImage::Format_Indexed8);</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  {</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  qImage_out =QImage((<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)(cvImg.data),</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  cvImg.cols,cvImg.rows,</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  cvImg.cols*cvImg.channels(),</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  QImage::Format_RGB888);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> }</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="namespace_cortex_bot.html#afb3771c64a2a259157fedf87fd9d81f7"> 82</a></span> QImage <a class="code" href="namespace_cortex_bot.html#afb3771c64a2a259157fedf87fd9d81f7">CortexBot::Mat2QImage</a>(cv::Mat cvImg)</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> {</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  QImage qImg;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span>(cvImg.channels()==3) <span class="comment">//3 channels color image</span></div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  {</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  cv::cvtColor(cvImg,cvImg,COLOR_BGR2RGB);</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  qImg =QImage((<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)(cvImg.data),</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  cvImg.cols, cvImg.rows,</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  cvImg.cols*cvImg.channels(),</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  QImage::Format_RGB888);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(cvImg.channels()==1) <span class="comment">//grayscale image</span></div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  {</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  qImg =QImage((<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)(cvImg.data),</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  cvImg.cols,cvImg.rows,</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  cvImg.cols*cvImg.channels(),</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  QImage::Format_Indexed8);</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  {</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  qImg =QImage((<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)(cvImg.data),</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  cvImg.cols,cvImg.rows,</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  cvImg.cols*cvImg.channels(),</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  QImage::Format_RGB888);</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> qImg;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> }</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#aa28387800b7040cc1a58d0d8ca58f424"> 116</a></span> <a class="code" href="class_tool_coordinate.html#a8b545a88369089d872b94354537d2ff0">ToolCoordinate::ToolCoordinate</a>(<span class="keyword">const</span> <a class="code" href="class_tool_coordinate.html">ToolCoordinate</a> &other_)</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> {</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  this-><a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = other_.<a class="code" href="class_tool_coordinate.html#ad353fcabaa6cd32ee5a3b6a49b0caa54">x</a>;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  this->y = other_.<a class="code" href="class_tool_coordinate.html#a5b077a16817aed4e303ba381bbd41d81">y</a>;</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  this->z = other_.<a class="code" href="class_tool_coordinate.html#ae39948911d9073039718c7a64a1cb447">z</a>;</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  this->Rx = other_.<a class="code" href="class_tool_coordinate.html#a4c88a09aa4c29b89265faa96dc347644">Rx</a>;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  this->Ry = other_.<a class="code" href="class_tool_coordinate.html#ad4582a7bf33bf2cc9d7d2e67c43f6f50">Ry</a>;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  this->Rz = other_.<a class="code" href="class_tool_coordinate.html#ae28178cf50e8d7a6cfcfe7504bca7c27">Rz</a>;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  this->x_speed = other_.<a class="code" href="class_tool_coordinate.html#aacc797803bc4b9f441ca5d6c6b351cba">x_speed</a>;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  this->y_speed = other_.<a class="code" href="class_tool_coordinate.html#a06a0357d91e3c0463f4dc0746c6677a4">y_speed</a>;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  this->z_speed = other_.<a class="code" href="class_tool_coordinate.html#a9ff4428b606350b2e6278776f10cb484">z_speed</a>;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  this->Rx_speed = other_.<a class="code" href="class_tool_coordinate.html#aa17ebe6f933ad8f2c065754bfddb4bd2">Rx_speed</a>;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  this->Ry_speed = other_.<a class="code" href="class_tool_coordinate.html#a2a1969610c9ab46b922d5580be04d40c">Ry_speed</a>;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  this->Rz_speed = other_.<a class="code" href="class_tool_coordinate.html#a9bc86c1da135c6394dd143da968f463b">Rz_speed</a>;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> }</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#ab72670cf421bae14a2ea5a008e9a35d5"> 133</a></span> <span class="keywordtype">void</span> <a class="code" href="class_tool_coordinate.html#ab72670cf421bae14a2ea5a008e9a35d5">ToolCoordinate::operator=</a>(<span class="keyword">const</span> <a class="code" href="class_tool_coordinate.html">ToolCoordinate</a> &other_)</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> {</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  this-><a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = other_.<a class="code" href="class_tool_coordinate.html#ad353fcabaa6cd32ee5a3b6a49b0caa54">x</a>;</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  this->y = other_.<a class="code" href="class_tool_coordinate.html#a5b077a16817aed4e303ba381bbd41d81">y</a>;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  this->z = other_.<a class="code" href="class_tool_coordinate.html#ae39948911d9073039718c7a64a1cb447">z</a>;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  this->Rx = other_.<a class="code" href="class_tool_coordinate.html#a4c88a09aa4c29b89265faa96dc347644">Rx</a>;</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  this->Ry = other_.<a class="code" href="class_tool_coordinate.html#ad4582a7bf33bf2cc9d7d2e67c43f6f50">Ry</a>;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  this->Rz = other_.<a class="code" href="class_tool_coordinate.html#ae28178cf50e8d7a6cfcfe7504bca7c27">Rz</a>;</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  this->x_speed = other_.<a class="code" href="class_tool_coordinate.html#aacc797803bc4b9f441ca5d6c6b351cba">x_speed</a>;</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  this->y_speed = other_.<a class="code" href="class_tool_coordinate.html#a06a0357d91e3c0463f4dc0746c6677a4">y_speed</a>;</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  this->z_speed = other_.<a class="code" href="class_tool_coordinate.html#a9ff4428b606350b2e6278776f10cb484">z_speed</a>;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  this->Rx_speed = other_.<a class="code" href="class_tool_coordinate.html#aa17ebe6f933ad8f2c065754bfddb4bd2">Rx_speed</a>;</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  this->Ry_speed = other_.<a class="code" href="class_tool_coordinate.html#a2a1969610c9ab46b922d5580be04d40c">Ry_speed</a>;</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  this->Rz_speed = other_.<a class="code" href="class_tool_coordinate.html#a9bc86c1da135c6394dd143da968f463b">Rz_speed</a>;</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> }</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a09331f5dd79ec63306d28fe1b2dd601d"> 150</a></span> <span class="keywordtype">void</span> <a class="code" href="class_tool_coordinate.html#ab72670cf421bae14a2ea5a008e9a35d5">ToolCoordinate::operator=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> *robotState)</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> {</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">if</span> (robotState != <span class="keyword">nullptr</span>)</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  {</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = robotState[12];</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  y = robotState[13];</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  z = robotState[14];</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  Rx = robotState[15];</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  Ry = robotState[16];</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  Rz = robotState[17];</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  x_speed = robotState[18];</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  y_speed = robotState[19];</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  z_speed = robotState[20];</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  Rx_speed = robotState[21];</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  Ry_speed = robotState[22];</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  Rz_speed = robotState[23];</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> }</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a90a552f9e0a0759328d6da4dc531fd8a"> 171</a></span> <span class="keywordtype">void</span> <a class="code" href="class_tool_coordinate.html#ab72670cf421bae14a2ea5a008e9a35d5">ToolCoordinate::operator=</a>(<span class="keyword">const</span> std::vector<double> &robotStates)</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> {</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = robotStates.at(12);</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  y = robotStates.at(13);</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  z = robotStates.at(14);</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  Rx = robotStates.at(15);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  Ry = robotStates.at(16);</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  Rz = robotStates.at(17);</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  x_speed = robotStates.at(18);</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  y_speed = robotStates.at(19);</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  z_speed = robotStates.at(20);</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  Rx_speed = robotStates.at(21);</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  Ry_speed = robotStates.at(22);</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  Rz_speed = robotStates.at(23);</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> }</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">void</span> <a class="code" href="class_tool_coordinate.html#ab72670cf421bae14a2ea5a008e9a35d5">ToolCoordinate::operator=</a>(<span class="keyword">const</span> initializer_list<double> &robotState)</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> {</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = robotState.begin()[12];</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  y = robotState.begin()[13];</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  z = robotState.begin()[14];</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  Rx = robotState.begin()[15];</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  Ry = robotState.begin()[16];</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  Rz = robotState.begin()[17];</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  x_speed = robotState.begin()[18];</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  y_speed = robotState.begin()[19];</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  z_speed = robotState.begin()[20];</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  Rx_speed = robotState.begin()[21];</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  Ry_speed = robotState.begin()[22];</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  Rz_speed = robotState.begin()[23];</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> }</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div><div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a5aa2e78d459d038096e20631386faed1"> 205</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a5aa2e78d459d038096e20631386faed1">ToolCoordinate::getX</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="keyword"></span>{</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">return</span> this-><a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a>;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> }</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div><div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a87ddc05c6b3dd05f7fafb570cd3fe5ca"> 210</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a87ddc05c6b3dd05f7fafb570cd3fe5ca">ToolCoordinate::getY</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="keyword"></span>{</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">return</span> this->y;</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> }</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a10b8e2ca9205aa662ad4b65b12ed0980"> 215</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a10b8e2ca9205aa662ad4b65b12ed0980">ToolCoordinate::getZ</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="keyword"></span>{</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">return</span> this->z;</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> }</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span> </div><div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#adf538ebec467597d869554e4d340b537"> 220</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#adf538ebec467597d869554e4d340b537">ToolCoordinate::getRx</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="keyword"></span>{</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">return</span> this->Rx;</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span> }</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#ae34afc9f63ed54e7306bd67da9fecdd1"> 225</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#ae34afc9f63ed54e7306bd67da9fecdd1">ToolCoordinate::getRy</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="keyword"></span>{</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">return</span> this->Ry;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span> }</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div><div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#ab4b53ca6f5edd8c46278396d7d8f670f"> 230</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#ab4b53ca6f5edd8c46278396d7d8f670f">ToolCoordinate::getRz</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="keyword"></span>{</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordflow">return</span> this->Rz;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> }</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span> </div><div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#ae1b6494de59e9813682abdeb3f93e697"> 235</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#ae1b6494de59e9813682abdeb3f93e697">ToolCoordinate::getXSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="keyword"></span>{</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">return</span> this->x_speed;</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span> }</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div><div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a76b0892541f026ccf980b6318973b32b"> 240</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a76b0892541f026ccf980b6318973b32b">ToolCoordinate::getYSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="keyword"></span>{</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">return</span> this->y_speed;</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> }</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div><div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#ae86fa7d2e8f1ea22fabf2f31490867c4"> 245</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#ae86fa7d2e8f1ea22fabf2f31490867c4">ToolCoordinate::getZSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="keyword"></span>{</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">return</span> this->z_speed;</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> }</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div><div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a0565b9cd84fa9b1212f11b6bd9183b38"> 250</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a0565b9cd84fa9b1212f11b6bd9183b38">ToolCoordinate::getRxSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="keyword"></span>{</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">return</span> this->Rx_speed;</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> }</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a7ac2770a05c817958ba5a2cdd2847efa"> 255</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a7ac2770a05c817958ba5a2cdd2847efa">ToolCoordinate::getRySpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="keyword"></span>{</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">return</span> this->Ry_speed;</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span> }</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div><div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a78b59cdfe0764f566fd994ba85844821"> 260</a></span> <span class="keywordtype">double</span> <a class="code" href="class_tool_coordinate.html#a78b59cdfe0764f566fd994ba85844821">ToolCoordinate::getRzSpeed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="keyword"></span>{</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">return</span> this->Rz_speed;</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> }</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span> </div><div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#aae7ec0015da5b6490989b60075287fa5"> 265</a></span> <span class="keywordtype">void</span> <a class="code" href="class_tool_coordinate.html#aae7ec0015da5b6490989b60075287fa5">ToolCoordinate::Print</a>()</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span> {</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  qDebug() << <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> << endl;</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  qDebug() << y << endl;</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  qDebug() << z << endl;</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  qDebug() << Rx << endl;</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  qDebug() << Ry << endl;</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  qDebug() << Rz << endl;</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  qDebug() << x_speed << endl;</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  qDebug() << y_speed << endl;</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  qDebug() << z_speed << endl;</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  qDebug() << Rx_speed << endl;</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  qDebug() << Ry_speed << endl;</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  qDebug() << Rz_speed << endl;</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span> }</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div><div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="class_tool_coordinate.html#a1a527694e46d31aebd617f3cba9b2a07"> 282</a></span> <span class="keywordtype">void</span> <a class="code" href="class_tool_coordinate.html#a1a527694e46d31aebd617f3cba9b2a07">ToolCoordinate::clear</a>()</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span> {</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = 0;</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  y = 0;</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  z = 0;</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  Rx = 0;</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  Ry = 0;</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  Rz = 0;</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  x_speed = 0;</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  y_speed = 0;</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  z_speed = 0;</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  Rx_speed = 0;</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  Ry_speed = 0;</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  Rz_speed = 0;</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span> }</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span> </div><div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classrobot_joint.html#abf941d68838b886b0b0e2bd79b961522"> 299</a></span> <a class="code" href="classrobot_joint.html#a6b6cc56bcad6e99e60532d3a2da4fb85">robotJoint::robotJoint</a>(<span class="keyword">const</span> <a class="code" href="classrobot_joint.html">robotJoint</a> &other_)</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span> {</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  this->joint1 = other_.<a class="code" href="classrobot_joint.html#a0fabef95fa1891899b67db907f8c9969">joint1</a>;</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  this->joint2 = other_.<a class="code" href="classrobot_joint.html#a7b6cc11fe6e66f24e740caf4e2931a24">joint2</a>;</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  this->joint3 = other_.<a class="code" href="classrobot_joint.html#ae168937a1a467d8dd4ccdf50e19492d8">joint3</a>;</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  this->joint4 = other_.<a class="code" href="classrobot_joint.html#a540a629edd868250a4a3a1670d289719">joint4</a>;</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  this->joint5 = other_.<a class="code" href="classrobot_joint.html#a3864ea38b5643c1081fd72cf6de78eff">joint5</a>;</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  this->joint6 = other_.<a class="code" href="classrobot_joint.html#ab29be7c25af451e47c3ca3a712f601e2">joint6</a>;</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span> </div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  this->joint1_speed = other_.<a class="code" href="classrobot_joint.html#a6b21b2b5e0600510525ae1e2c1962fa8">joint1_speed</a>;</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  this->joint2_speed = other_.<a class="code" href="classrobot_joint.html#a121309aaef0817db7d5b82d6e334eb7a">joint2_speed</a>;</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  this->joint3_speed = other_.<a class="code" href="classrobot_joint.html#a955842dfcb1857c418e7f821195b333a">joint3_speed</a>;</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  this->joint4_speed = other_.<a class="code" href="classrobot_joint.html#a87d8af20858b67656309ed09d8bd72ea">joint4_speed</a>;</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  this->joint5_speed = other_.<a class="code" href="classrobot_joint.html#a5be708bac63145b315856404f313f81b">joint5_speed</a>;</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  this->joint6_speed = other_.<a class="code" href="classrobot_joint.html#ad573113298735a17810790a1a0b9f578">joint6_speed</a>;</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span> }</div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span> </div><div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a1ac02e75afb80a03d00c72add71ffce7"> 316</a></span> <span class="keywordtype">void</span> <a class="code" href="classrobot_joint.html#a1ac02e75afb80a03d00c72add71ffce7">robotJoint::operator=</a>(<span class="keyword">const</span> <a class="code" href="classrobot_joint.html">robotJoint</a> &other_)</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span> {</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  this->joint1 = other_.<a class="code" href="classrobot_joint.html#a0fabef95fa1891899b67db907f8c9969">joint1</a>;</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  this->joint2 = other_.<a class="code" href="classrobot_joint.html#a7b6cc11fe6e66f24e740caf4e2931a24">joint2</a>;</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  this->joint3 = other_.<a class="code" href="classrobot_joint.html#ae168937a1a467d8dd4ccdf50e19492d8">joint3</a>;</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  this->joint4 = other_.<a class="code" href="classrobot_joint.html#a540a629edd868250a4a3a1670d289719">joint4</a>;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  this->joint5 = other_.<a class="code" href="classrobot_joint.html#a3864ea38b5643c1081fd72cf6de78eff">joint5</a>;</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  this->joint6 = other_.<a class="code" href="classrobot_joint.html#ab29be7c25af451e47c3ca3a712f601e2">joint6</a>;</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span> </div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  this->joint1_speed = other_.<a class="code" href="classrobot_joint.html#a6b21b2b5e0600510525ae1e2c1962fa8">joint1_speed</a>;</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  this->joint2_speed = other_.<a class="code" href="classrobot_joint.html#a121309aaef0817db7d5b82d6e334eb7a">joint2_speed</a>;</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  this->joint3_speed = other_.<a class="code" href="classrobot_joint.html#a955842dfcb1857c418e7f821195b333a">joint3_speed</a>;</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  this->joint4_speed = other_.<a class="code" href="classrobot_joint.html#a87d8af20858b67656309ed09d8bd72ea">joint4_speed</a>;</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  this->joint5_speed = other_.<a class="code" href="classrobot_joint.html#a5be708bac63145b315856404f313f81b">joint5_speed</a>;</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  this->joint6_speed = other_.<a class="code" href="classrobot_joint.html#ad573113298735a17810790a1a0b9f578">joint6_speed</a>;</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span> }</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div><div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classrobot_joint.html#ab23a2fce80de5b75da43152865972f3b"> 333</a></span> <span class="keywordtype">void</span> <a class="code" href="classrobot_joint.html#a1ac02e75afb80a03d00c72add71ffce7">robotJoint::operator=</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> *robotStates)</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span> {</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">if</span> (robotStates != <span class="keyword">nullptr</span>)</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  {</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  joint1 = robotStates[0];</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  joint2 = robotStates[1];</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  joint3 = robotStates[2];</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  joint4 = robotStates[3];</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  joint5 = robotStates[4];</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  joint6 = robotStates[5];</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span> </div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  joint1_speed = robotStates[6];</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  joint2_speed = robotStates[7];</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  joint3_speed = robotStates[8];</div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  joint4_speed = robotStates[9];</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  joint5_speed = robotStates[10];</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  joint6_speed = robotStates[11];</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  }</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span> </div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span> }</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span> </div><div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a3712ece129875cc678258687245457dc"> 354</a></span> <span class="keywordtype">void</span> <a class="code" href="classrobot_joint.html#a1ac02e75afb80a03d00c72add71ffce7">robotJoint::operator=</a>(<span class="keyword">const</span> std::vector<double> &robotStates)</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> {</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  joint1 = robotStates.at(0);</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  joint2 = robotStates.at(1);</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  joint3 = robotStates.at(2);</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  joint4 = robotStates.at(3);</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  joint5 = robotStates.at(4);</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  joint6 = robotStates.at(5);</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span> </div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  joint1_speed = robotStates.at(6);</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  joint2_speed = robotStates.at(7);</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  joint3_speed = robotStates.at(8);</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  joint4_speed = robotStates.at(9);</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  joint5_speed = robotStates.at(10);</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  joint6_speed = robotStates.at(11);</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span> }</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span> </div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span> <span class="keywordtype">void</span> <a class="code" href="classrobot_joint.html#a1ac02e75afb80a03d00c72add71ffce7">robotJoint::operator=</a>(<span class="keyword">const</span> initializer_list<double> &robotState)</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span> {</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  joint1 = robotState.begin()[0];</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  joint2 = robotState.begin()[1];</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  joint3 = robotState.begin()[2];</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  joint4 = robotState.begin()[3];</div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  joint5 = robotState.begin()[4];</div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  joint6 = robotState.begin()[5];</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span> </div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  joint1_speed = robotState.begin()[6];</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  joint2_speed = robotState.begin()[7];</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  joint3_speed = robotState.begin()[8];</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  joint4_speed = robotState.begin()[9];</div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  joint5_speed = robotState.begin()[10];</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  joint6_speed = robotState.begin()[11];</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span> </div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span> }</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span> </div><div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a5827e6d6077c75aa89b633a248534135"> 389</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a5827e6d6077c75aa89b633a248534135">robotJoint::getJoint1</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span> <span class="keyword"></span>{</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordflow">return</span> this->joint1;</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span> }</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div><div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a8f90d4931a47e825d4abba601d852366"> 394</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a8f90d4931a47e825d4abba601d852366">robotJoint::getJoint2</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="keyword"></span>{</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">return</span> joint2;</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> }</div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span> </div><div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a27fef47935c62679440e505ca5f96a1c"> 399</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a27fef47935c62679440e505ca5f96a1c">robotJoint::getJoint3</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span> <span class="keyword"></span>{</div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordflow">return</span> joint3;</div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span> }</div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> </div><div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a8d1b10ef742ac0e9fe5db02a94969424"> 404</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a8d1b10ef742ac0e9fe5db02a94969424">robotJoint::getJoint4</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="keyword"></span>{</div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <span class="keywordflow">return</span> joint4;</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span> }</div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span> </div><div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a7de58b628ead92b7b3fc3bfbf074ecfc"> 409</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a7de58b628ead92b7b3fc3bfbf074ecfc">robotJoint::getJoint5</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00410"></a><span class="lineno"> 410</span> <span class="keyword"></span>{</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordflow">return</span> joint5;</div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span> }</div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span> </div><div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a92767ed9f917321cd2e9c86ccf7f42d9"> 414</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a92767ed9f917321cd2e9c86ccf7f42d9">robotJoint::getJoint6</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="keyword"></span>{</div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="keywordflow">return</span> joint6;</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span> }</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span> </div><div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a3a96625f13af1842b8b992a689e60508"> 419</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a3a96625f13af1842b8b992a689e60508">robotJoint::getJoint1Speed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span> <span class="keyword"></span>{</div><div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="keywordflow">return</span> joint1_speed;</div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span> }</div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span> </div><div class="line"><a name="l00424"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a3134c05c6bc878f729602f209de633b6"> 424</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a3134c05c6bc878f729602f209de633b6">robotJoint::getJoint2Speed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00425"></a><span class="lineno"> 425</span> <span class="keyword"></span>{</div><div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">return</span> joint2_speed;</div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span> }</div><div class="line"><a name="l00428"></a><span class="lineno"> 428</span> </div><div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a6c8eb40215df4797dc8b7ff419d9ff29"> 429</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a6c8eb40215df4797dc8b7ff419d9ff29">robotJoint::getJoint3Speed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span> <span class="keyword"></span>{</div><div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordflow">return</span> joint3_speed;</div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span> }</div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span> </div><div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a709669e52e2cde717ffbc44433f833ef"> 434</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a709669e52e2cde717ffbc44433f833ef">robotJoint::getJoint4Speed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00435"></a><span class="lineno"> 435</span> <span class="keyword"></span>{</div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="keywordflow">return</span> joint4_speed;</div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span> }</div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span> </div><div class="line"><a name="l00439"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a914fca9e9d8169844295c9d38de68aa0"> 439</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#a914fca9e9d8169844295c9d38de68aa0">robotJoint::getJoint5Speed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span> <span class="keyword"></span>{</div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <span class="keywordflow">return</span> joint5_speed;</div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span> }</div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span> </div><div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classrobot_joint.html#ae50e3be54569a610dc4f50ba76b68794"> 444</a></span> <span class="keywordtype">double</span> <a class="code" href="classrobot_joint.html#ae50e3be54569a610dc4f50ba76b68794">robotJoint::getJoint6Speed</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00445"></a><span class="lineno"> 445</span> <span class="keyword"></span>{</div><div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">return</span> joint6_speed;</div><div class="line"><a name="l00447"></a><span class="lineno"> 447</span> }</div><div class="line"><a name="l00448"></a><span class="lineno"> 448</span> </div><div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classrobot_joint.html#a5993794db7624ed3c6f940837388fef5"> 449</a></span> <span class="keywordtype">void</span> <a class="code" href="classrobot_joint.html#a5993794db7624ed3c6f940837388fef5">robotJoint::clear</a>()</div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span> {</div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  joint1=0;</div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  joint2=0;</div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  joint3=0;</div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  joint4=0;</div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  joint5=0;</div><div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  joint6=0;</div><div class="line"><a name="l00457"></a><span class="lineno"> 457</span> </div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  joint1_speed=0;</div><div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  joint2_speed=0;</div><div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  joint3_speed=0;</div><div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  joint4_speed=0;</div><div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  joint5_speed=0;</div><div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  joint6_speed=0;</div><div class="line"><a name="l00464"></a><span class="lineno"> 464</span> }</div><div class="ttc" id="class_tool_coordinate_html_a1a527694e46d31aebd617f3cba9b2a07"><div class="ttname"><a href="class_tool_coordinate.html#a1a527694e46d31aebd617f3cba9b2a07">ToolCoordinate::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00282">Common.cpp:282</a></div></div>
<div class="ttc" id="classrobot_joint_html_ae168937a1a467d8dd4ccdf50e19492d8"><div class="ttname"><a href="classrobot_joint.html#ae168937a1a467d8dd4ccdf50e19492d8">robotJoint::joint3</a></div><div class="ttdeci">double joint3</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00159">Common.h:159</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_aae7ec0015da5b6490989b60075287fa5"><div class="ttname"><a href="class_tool_coordinate.html#aae7ec0015da5b6490989b60075287fa5">ToolCoordinate::Print</a></div><div class="ttdeci">void Print()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00265">Common.cpp:265</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a4c88a09aa4c29b89265faa96dc347644"><div class="ttname"><a href="class_tool_coordinate.html#a4c88a09aa4c29b89265faa96dc347644">ToolCoordinate::Rx</a></div><div class="ttdeci">double Rx</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00118">Common.h:118</a></div></div>
<div class="ttc" id="class_common_html_ab0898f6608707a3e07c22d88ecdae661"><div class="ttname"><a href="class_common.html#ab0898f6608707a3e07c22d88ecdae661">Common::Common</a></div><div class="ttdeci">Common()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00005">Common.cpp:5</a></div></div>
<div class="ttc" id="classrobot_joint_html_a540a629edd868250a4a3a1670d289719"><div class="ttname"><a href="classrobot_joint.html#a540a629edd868250a4a3a1670d289719">robotJoint::joint4</a></div><div class="ttdeci">double joint4</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00160">Common.h:160</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ae1b6494de59e9813682abdeb3f93e697"><div class="ttname"><a href="class_tool_coordinate.html#ae1b6494de59e9813682abdeb3f93e697">ToolCoordinate::getXSpeed</a></div><div class="ttdeci">double getXSpeed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00235">Common.cpp:235</a></div></div>
<div class="ttc" id="classrobot_joint_html_a3134c05c6bc878f729602f209de633b6"><div class="ttname"><a href="classrobot_joint.html#a3134c05c6bc878f729602f209de633b6">robotJoint::getJoint2Speed</a></div><div class="ttdeci">double getJoint2Speed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00424">Common.cpp:424</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ae34afc9f63ed54e7306bd67da9fecdd1"><div class="ttname"><a href="class_tool_coordinate.html#ae34afc9f63ed54e7306bd67da9fecdd1">ToolCoordinate::getRy</a></div><div class="ttdeci">double getRy() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00225">Common.cpp:225</a></div></div>
<div class="ttc" id="class_common_html_afedb72b72fb5f44689d9c8f071b5cd6a"><div class="ttname"><a href="class_common.html#afedb72b72fb5f44689d9c8f071b5cd6a">Common::Mat2QImage</a></div><div class="ttdeci">static void Mat2QImage(const cv::Mat &cvImg, QImage &qImage_out)</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00053">Common.cpp:53</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a06a0357d91e3c0463f4dc0746c6677a4"><div class="ttname"><a href="class_tool_coordinate.html#a06a0357d91e3c0463f4dc0746c6677a4">ToolCoordinate::y_speed</a></div><div class="ttdeci">double y_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00123">Common.h:123</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a87ddc05c6b3dd05f7fafb570cd3fe5ca"><div class="ttname"><a href="class_tool_coordinate.html#a87ddc05c6b3dd05f7fafb570cd3fe5ca">ToolCoordinate::getY</a></div><div class="ttdeci">double getY() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00210">Common.cpp:210</a></div></div>
<div class="ttc" id="classrobot_joint_html_a5be708bac63145b315856404f313f81b"><div class="ttname"><a href="classrobot_joint.html#a5be708bac63145b315856404f313f81b">robotJoint::joint5_speed</a></div><div class="ttdeci">double joint5_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00168">Common.h:168</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ae28178cf50e8d7a6cfcfe7504bca7c27"><div class="ttname"><a href="class_tool_coordinate.html#ae28178cf50e8d7a6cfcfe7504bca7c27">ToolCoordinate::Rz</a></div><div class="ttdeci">double Rz</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00120">Common.h:120</a></div></div>
<div class="ttc" id="classrobot_joint_html_a5993794db7624ed3c6f940837388fef5"><div class="ttname"><a href="classrobot_joint.html#a5993794db7624ed3c6f940837388fef5">robotJoint::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00449">Common.cpp:449</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ab72670cf421bae14a2ea5a008e9a35d5"><div class="ttname"><a href="class_tool_coordinate.html#ab72670cf421bae14a2ea5a008e9a35d5">ToolCoordinate::operator=</a></div><div class="ttdeci">void operator=(const ToolCoordinate &other_)</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00133">Common.cpp:133</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a9ff4428b606350b2e6278776f10cb484"><div class="ttname"><a href="class_tool_coordinate.html#a9ff4428b606350b2e6278776f10cb484">ToolCoordinate::z_speed</a></div><div class="ttdeci">double z_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00124">Common.h:124</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a5b077a16817aed4e303ba381bbd41d81"><div class="ttname"><a href="class_tool_coordinate.html#a5b077a16817aed4e303ba381bbd41d81">ToolCoordinate::y</a></div><div class="ttdeci">double y</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00116">Common.h:116</a></div></div>
<div class="ttc" id="class_common_html_a853df4cfc36cff3eb3843437b30628fd"><div class="ttname"><a href="class_common.html#a853df4cfc36cff3eb3843437b30628fd">Common::getSimilarity</a></div><div class="ttdeci">static double getSimilarity(const cv::Mat &A, const cv::Mat &B)</div><div class="ttdoc">Common::getSimilarity 比较两图片的差异 </div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00036">Common.cpp:36</a></div></div>
<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
<div class="ttc" id="_p_d_8m_html_a9336ebf25087d91c818ee6e9ec29f8c1"><div class="ttname"><a href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></div><div class="ttdeci">x</div><div class="ttdef"><b>Definition:</b> <a href="_p_d_8m_source.html#l00010">PD.m:10</a></div></div>
<div class="ttc" id="namespacecv_html"><div class="ttname"><a href="namespacecv.html">cv</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a8b545a88369089d872b94354537d2ff0"><div class="ttname"><a href="class_tool_coordinate.html#a8b545a88369089d872b94354537d2ff0">ToolCoordinate::ToolCoordinate</a></div><div class="ttdeci">ToolCoordinate()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00129">Common.h:129</a></div></div>
<div class="ttc" id="classrobot_joint_html_a6b21b2b5e0600510525ae1e2c1962fa8"><div class="ttname"><a href="classrobot_joint.html#a6b21b2b5e0600510525ae1e2c1962fa8">robotJoint::joint1_speed</a></div><div class="ttdeci">double joint1_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00164">Common.h:164</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a10b8e2ca9205aa662ad4b65b12ed0980"><div class="ttname"><a href="class_tool_coordinate.html#a10b8e2ca9205aa662ad4b65b12ed0980">ToolCoordinate::getZ</a></div><div class="ttdeci">double getZ() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00215">Common.cpp:215</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_aacc797803bc4b9f441ca5d6c6b351cba"><div class="ttname"><a href="class_tool_coordinate.html#aacc797803bc4b9f441ca5d6c6b351cba">ToolCoordinate::x_speed</a></div><div class="ttdeci">double x_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00122">Common.h:122</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a9bc86c1da135c6394dd143da968f463b"><div class="ttname"><a href="class_tool_coordinate.html#a9bc86c1da135c6394dd143da968f463b">ToolCoordinate::Rz_speed</a></div><div class="ttdeci">double Rz_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00127">Common.h:127</a></div></div>
<div class="ttc" id="classrobot_joint_html_a8f90d4931a47e825d4abba601d852366"><div class="ttname"><a href="classrobot_joint.html#a8f90d4931a47e825d4abba601d852366">robotJoint::getJoint2</a></div><div class="ttdeci">double getJoint2() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00394">Common.cpp:394</a></div></div>
<div class="ttc" id="classrobot_joint_html_a955842dfcb1857c418e7f821195b333a"><div class="ttname"><a href="classrobot_joint.html#a955842dfcb1857c418e7f821195b333a">robotJoint::joint3_speed</a></div><div class="ttdeci">double joint3_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00166">Common.h:166</a></div></div>
<div class="ttc" id="classrobot_joint_html_a3a96625f13af1842b8b992a689e60508"><div class="ttname"><a href="classrobot_joint.html#a3a96625f13af1842b8b992a689e60508">robotJoint::getJoint1Speed</a></div><div class="ttdeci">double getJoint1Speed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00419">Common.cpp:419</a></div></div>
<div class="ttc" id="classrobot_joint_html_a7b6cc11fe6e66f24e740caf4e2931a24"><div class="ttname"><a href="classrobot_joint.html#a7b6cc11fe6e66f24e740caf4e2931a24">robotJoint::joint2</a></div><div class="ttdeci">double joint2</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00158">Common.h:158</a></div></div>
<div class="ttc" id="classrobot_joint_html_a3864ea38b5643c1081fd72cf6de78eff"><div class="ttname"><a href="classrobot_joint.html#a3864ea38b5643c1081fd72cf6de78eff">robotJoint::joint5</a></div><div class="ttdeci">double joint5</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00161">Common.h:161</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ab4b53ca6f5edd8c46278396d7d8f670f"><div class="ttname"><a href="class_tool_coordinate.html#ab4b53ca6f5edd8c46278396d7d8f670f">ToolCoordinate::getRz</a></div><div class="ttdeci">double getRz() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00230">Common.cpp:230</a></div></div>
<div class="ttc" id="class_common_html_ab7f5af0f1add62eb22f6f9e04b9d9efa"><div class="ttname"><a href="class_common.html#ab7f5af0f1add62eb22f6f9e04b9d9efa">Common::MODE_NAME</a></div><div class="ttdeci">static std::vector< std::string > MODE_NAME</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00055">Common.h:55</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a5aa2e78d459d038096e20631386faed1"><div class="ttname"><a href="class_tool_coordinate.html#a5aa2e78d459d038096e20631386faed1">ToolCoordinate::getX</a></div><div class="ttdeci">double getX() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00205">Common.cpp:205</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a78b59cdfe0764f566fd994ba85844821"><div class="ttname"><a href="class_tool_coordinate.html#a78b59cdfe0764f566fd994ba85844821">ToolCoordinate::getRzSpeed</a></div><div class="ttdeci">double getRzSpeed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00260">Common.cpp:260</a></div></div>
<div class="ttc" id="classrobot_joint_html_ab29be7c25af451e47c3ca3a712f601e2"><div class="ttname"><a href="classrobot_joint.html#ab29be7c25af451e47c3ca3a712f601e2">robotJoint::joint6</a></div><div class="ttdeci">double joint6</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00162">Common.h:162</a></div></div>
<div class="ttc" id="classrobot_joint_html_a87d8af20858b67656309ed09d8bd72ea"><div class="ttname"><a href="classrobot_joint.html#a87d8af20858b67656309ed09d8bd72ea">robotJoint::joint4_speed</a></div><div class="ttdeci">double joint4_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00167">Common.h:167</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ad353fcabaa6cd32ee5a3b6a49b0caa54"><div class="ttname"><a href="class_tool_coordinate.html#ad353fcabaa6cd32ee5a3b6a49b0caa54">ToolCoordinate::x</a></div><div class="ttdeci">double x</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00115">Common.h:115</a></div></div>
<div class="ttc" id="classrobot_joint_html_a7de58b628ead92b7b3fc3bfbf074ecfc"><div class="ttname"><a href="classrobot_joint.html#a7de58b628ead92b7b3fc3bfbf074ecfc">robotJoint::getJoint5</a></div><div class="ttdeci">double getJoint5() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00409">Common.cpp:409</a></div></div>
<div class="ttc" id="classrobot_joint_html_a121309aaef0817db7d5b82d6e334eb7a"><div class="ttname"><a href="classrobot_joint.html#a121309aaef0817db7d5b82d6e334eb7a">robotJoint::joint2_speed</a></div><div class="ttdeci">double joint2_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00165">Common.h:165</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a0565b9cd84fa9b1212f11b6bd9183b38"><div class="ttname"><a href="class_tool_coordinate.html#a0565b9cd84fa9b1212f11b6bd9183b38">ToolCoordinate::getRxSpeed</a></div><div class="ttdeci">double getRxSpeed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00250">Common.cpp:250</a></div></div>
<div class="ttc" id="classrobot_joint_html_a0fabef95fa1891899b67db907f8c9969"><div class="ttname"><a href="classrobot_joint.html#a0fabef95fa1891899b67db907f8c9969">robotJoint::joint1</a></div><div class="ttdeci">double joint1</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00157">Common.h:157</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a7ac2770a05c817958ba5a2cdd2847efa"><div class="ttname"><a href="class_tool_coordinate.html#a7ac2770a05c817958ba5a2cdd2847efa">ToolCoordinate::getRySpeed</a></div><div class="ttdeci">double getRySpeed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00255">Common.cpp:255</a></div></div>
<div class="ttc" id="classrobot_joint_html_a27fef47935c62679440e505ca5f96a1c"><div class="ttname"><a href="classrobot_joint.html#a27fef47935c62679440e505ca5f96a1c">robotJoint::getJoint3</a></div><div class="ttdeci">double getJoint3() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00399">Common.cpp:399</a></div></div>
<div class="ttc" id="classrobot_joint_html_a6b6cc56bcad6e99e60532d3a2da4fb85"><div class="ttname"><a href="classrobot_joint.html#a6b6cc56bcad6e99e60532d3a2da4fb85">robotJoint::robotJoint</a></div><div class="ttdeci">robotJoint()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00171">Common.h:171</a></div></div>
<div class="ttc" id="classrobot_joint_html"><div class="ttname"><a href="classrobot_joint.html">robotJoint</a></div><div class="ttdoc">a class used to accommodate robot joint and joint speed para, with method to read those...</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00154">Common.h:154</a></div></div>
<div class="ttc" id="classrobot_joint_html_a8d1b10ef742ac0e9fe5db02a94969424"><div class="ttname"><a href="classrobot_joint.html#a8d1b10ef742ac0e9fe5db02a94969424">robotJoint::getJoint4</a></div><div class="ttdeci">double getJoint4() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00404">Common.cpp:404</a></div></div>
<div class="ttc" id="classrobot_joint_html_a709669e52e2cde717ffbc44433f833ef"><div class="ttname"><a href="classrobot_joint.html#a709669e52e2cde717ffbc44433f833ef">robotJoint::getJoint4Speed</a></div><div class="ttdeci">double getJoint4Speed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00434">Common.cpp:434</a></div></div>
<div class="ttc" id="classrobot_joint_html_ad573113298735a17810790a1a0b9f578"><div class="ttname"><a href="classrobot_joint.html#ad573113298735a17810790a1a0b9f578">robotJoint::joint6_speed</a></div><div class="ttdeci">double joint6_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00169">Common.h:169</a></div></div>
<div class="ttc" id="_common_8h_html"><div class="ttname"><a href="_common_8h.html">Common.h</a></div><div class="ttdoc">common algorithms, including Mat2Qimage.. and servo data process. </div></div>
<div class="ttc" id="class_tool_coordinate_html_a76b0892541f026ccf980b6318973b32b"><div class="ttname"><a href="class_tool_coordinate.html#a76b0892541f026ccf980b6318973b32b">ToolCoordinate::getYSpeed</a></div><div class="ttdeci">double getYSpeed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00240">Common.cpp:240</a></div></div>
<div class="ttc" id="class_tool_coordinate_html"><div class="ttname"><a href="class_tool_coordinate.html">ToolCoordinate</a></div><div class="ttdoc">a class used to accommodate toolCoordinate, with method to read them. </div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00112">Common.h:112</a></div></div>
<div class="ttc" id="classrobot_joint_html_ae50e3be54569a610dc4f50ba76b68794"><div class="ttname"><a href="classrobot_joint.html#ae50e3be54569a610dc4f50ba76b68794">robotJoint::getJoint6Speed</a></div><div class="ttdeci">double getJoint6Speed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00444">Common.cpp:444</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_aa17ebe6f933ad8f2c065754bfddb4bd2"><div class="ttname"><a href="class_tool_coordinate.html#aa17ebe6f933ad8f2c065754bfddb4bd2">ToolCoordinate::Rx_speed</a></div><div class="ttdeci">double Rx_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00125">Common.h:125</a></div></div>
<div class="ttc" id="classrobot_joint_html_a1ac02e75afb80a03d00c72add71ffce7"><div class="ttname"><a href="classrobot_joint.html#a1ac02e75afb80a03d00c72add71ffce7">robotJoint::operator=</a></div><div class="ttdeci">void operator=(const robotJoint &other_)</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00316">Common.cpp:316</a></div></div>
<div class="ttc" id="class_common_html_a6d17530adf532d3e23a35f5cf804375b"><div class="ttname"><a href="class_common.html#a6d17530adf532d3e23a35f5cf804375b">Common::qGetTime</a></div><div class="ttdeci">static QString qGetTime()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00022">Common.cpp:22</a></div></div>
<div class="ttc" id="class_common_html_acb1df90c29136d1a3a1dc86590d9e020"><div class="ttname"><a href="class_common.html#acb1df90c29136d1a3a1dc86590d9e020">Common::getTime</a></div><div class="ttdeci">static std::string getTime()</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00011">Common.cpp:11</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_adf538ebec467597d869554e4d340b537"><div class="ttname"><a href="class_tool_coordinate.html#adf538ebec467597d869554e4d340b537">ToolCoordinate::getRx</a></div><div class="ttdeci">double getRx() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00220">Common.cpp:220</a></div></div>
<div class="ttc" id="namespace_cortex_bot_html_afb3771c64a2a259157fedf87fd9d81f7"><div class="ttname"><a href="namespace_cortex_bot.html#afb3771c64a2a259157fedf87fd9d81f7">CortexBot::Mat2QImage</a></div><div class="ttdeci">QImage Mat2QImage(cv::Mat cvImg)</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00082">Common.cpp:82</a></div></div>
<div class="ttc" id="classrobot_joint_html_a5827e6d6077c75aa89b633a248534135"><div class="ttname"><a href="classrobot_joint.html#a5827e6d6077c75aa89b633a248534135">robotJoint::getJoint1</a></div><div class="ttdeci">double getJoint1() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00389">Common.cpp:389</a></div></div>
<div class="ttc" id="classrobot_joint_html_a914fca9e9d8169844295c9d38de68aa0"><div class="ttname"><a href="classrobot_joint.html#a914fca9e9d8169844295c9d38de68aa0">robotJoint::getJoint5Speed</a></div><div class="ttdeci">double getJoint5Speed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00439">Common.cpp:439</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ae86fa7d2e8f1ea22fabf2f31490867c4"><div class="ttname"><a href="class_tool_coordinate.html#ae86fa7d2e8f1ea22fabf2f31490867c4">ToolCoordinate::getZSpeed</a></div><div class="ttdeci">double getZSpeed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00245">Common.cpp:245</a></div></div>
<div class="ttc" id="classrobot_joint_html_a6c8eb40215df4797dc8b7ff419d9ff29"><div class="ttname"><a href="classrobot_joint.html#a6c8eb40215df4797dc8b7ff419d9ff29">robotJoint::getJoint3Speed</a></div><div class="ttdeci">double getJoint3Speed() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00429">Common.cpp:429</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ad4582a7bf33bf2cc9d7d2e67c43f6f50"><div class="ttname"><a href="class_tool_coordinate.html#ad4582a7bf33bf2cc9d7d2e67c43f6f50">ToolCoordinate::Ry</a></div><div class="ttdeci">double Ry</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00119">Common.h:119</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_ae39948911d9073039718c7a64a1cb447"><div class="ttname"><a href="class_tool_coordinate.html#ae39948911d9073039718c7a64a1cb447">ToolCoordinate::z</a></div><div class="ttdeci">double z</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00117">Common.h:117</a></div></div>
<div class="ttc" id="classrobot_joint_html_a92767ed9f917321cd2e9c86ccf7f42d9"><div class="ttname"><a href="classrobot_joint.html#a92767ed9f917321cd2e9c86ccf7f42d9">robotJoint::getJoint6</a></div><div class="ttdeci">double getJoint6() const</div><div class="ttdef"><b>Definition:</b> <a href="_common_8cpp_source.html#l00414">Common.cpp:414</a></div></div>
<div class="ttc" id="class_tool_coordinate_html_a2a1969610c9ab46b922d5580be04d40c"><div class="ttname"><a href="class_tool_coordinate.html#a2a1969610c9ab46b922d5580be04d40c">ToolCoordinate::Ry_speed</a></div><div class="ttdeci">double Ry_speed</div><div class="ttdef"><b>Definition:</b> <a href="_common_8h_source.html#l00126">Common.h:126</a></div></div>
<div class="ttc" id="_sequence_capture_8cpp_html_aa46369f3c8adbff876c82270346fffa2"><div class="ttname"><a href="_sequence_capture_8cpp.html#aa46369f3c8adbff876c82270346fffa2">currentDateTime</a></div><div class="ttdeci">const std::string currentDateTime()</div><div class="ttdef"><b>Definition:</b> <a href="_sequence_capture_8cpp_source.html#l00201">SequenceCapture.cpp:201</a></div></div>
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