diff --git a/onekey.sh b/onekey.sh index 0b859d2..58b7d05 100755 --- a/onekey.sh +++ b/onekey.sh @@ -9,7 +9,7 @@ export PATH # SPARK技术讨论与反馈QQ群：6646169 8346256 #================================================= - +GAME_ENABLE="no" sh_ver="2.0" filepath=$(cd "$(dirname "$0")"; pwd) Green_font_prefix="\033[32m" && Red_font_prefix="\033[31m" && Green_background_prefix="\033[42;37m" && Red_background_prefix="\033[41;37m" && Yellow_background_prefix="\033[43;37m" && Font_color_suffix="\033[0m" && Yellow_font_prefix="\e[1;33m" && Blue_font_prefix="\e[0;34m" @@ -26,6 +26,20 @@ OSArch=$(uname -m) calibra_default="${filepath}/../.ros/camera_info" +calibration="calibration" +color_block="color_block" + +TYPE_LIDAR=$(cat /opt/lidar.txt) +echo ${TYPE_LIDAR} +if [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then + LIDARTYPE="ydlidar_g2" +elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then + LIDARTYPE="3iroboticslidar2" +else + echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行" + LIDARTYPE="3iroboticslidar2" +fi + #检查系统要求 check_sys(){ if [[ "${Version}" == "20.04" ]]; then @@ -48,8 +62,30 @@ check_dev(){ #检查摄像头 check_camera + #检查雷达 + check_lidar } +#检查雷达设备 +check_lidar(){ + lidar_flag=0 + + #检查使用哪种设备 + if [ -n "$(lsusb -d 10c4:ea60)" ]; then + lidar_flag=$[$lidar_flag + 1] + fi + + + + if [ $lidar_flag -ge 2 ]; then + echo -e "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!" + echo -e "${Warn} 退出请输入：Ctrl + c！" + elif [ $lidar_flag -eq 1 ]; then + echo -e "${Info} 正在使用${LIDARTYPE}雷达" + elif [ $lidar_flag -eq 0 ]; then + echo -e "${Error} 没有找到雷达，请确认雷达已正确连接！！" + fi +} #检查摄像头设备 check_camera(){ @@ -304,8 +340,8 @@ let_robot_go(){ echo -e "${Info} " echo -e "${Info} 退出请输入：Ctrl + c " echo && stty erase ^? && read -p "按回车键（Enter）开始：" - print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} } @@ -323,8 +359,8 @@ remote_control_robot(){ echo -e "${Info}退出请输入：Ctrl + c" echo -e "${Info}" echo && stty erase ^? && read -p "按回车键（Enter）开始：" - print_command "roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} } #让SPARK跟着你走 @@ -399,20 +435,20 @@ cal_camera_arm(){ echo && stty erase ^? && read -p "按回车键（Enter）开始：" if [ $ROSVER = "kinetic" ]; then echo -e "${Info}It is kinetic." - print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} elif [ $ROSVER = "indigo" ]; then echo -e "${Info}It is indigo." - print_command "roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} elif [ $ROSVER = "melodic" ]; then echo -e "${Info}It is melodic." - print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} elif [ $ROSVER = "noetic" ]; then echo -e "${Info}It is melodic." - print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} fi } @@ -433,8 +469,8 @@ spark_navigation_2d(){ echo -e "${Info}退出请输入：Ctrl + c " echo -e "${Info}" echo && stty erase '^H' && read -p "按回车键（Enter）开始：" - print_command "roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} } #让SPARK使用深度摄像头进行导航 spark_navigation_3d(){ @@ -610,20 +646,20 @@ spark_carry_obj(){ echo && stty erase ^? && read -p "按回车键（Enter）开始：" if [ $ROSVER = "kinetic" ]; then echo -e "${Info}It is kinetic." - print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} elif [ $ROSVER = "indigo" ]; then echo -e "${Info}It is indigo." - print_command "roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} elif [ $ROSVER = "melodic" ]; then echo -e "${Info}It is melodic." - print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} elif [ $ROSVER = "noetic" ]; then echo -e "${Info}It is noetic." - print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}" - roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} fi } @@ -672,8 +708,8 @@ spark_build_map_2d(){ echo -e "${Info}退出请输入：Ctrl + c " echo -e "${Info}" echo && stty erase ^? && read -p "按回车键（Enter）开始：" - print_command "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}" - roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} + print_command "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}" + roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} } #让SPARK去充电 @@ -695,6 +731,32 @@ spark_dock(){ } +#让SPARK夺宝奇兵比赛用示例程序 +spark_carry_game(){ + echo -e "${Info}" + echo -e "${Info}夺宝奇兵比赛用示例程序" + ROSVER=`/usr/bin/rosversion -d` + PROJECTPATH=$(cd `dirname $0`; pwd) + source ${PROJECTPATH}/devel/setup.bash + echo -e "${Info}请选择比赛方式： + ${Green_font_prefix}1.${Font_color_suffix} 手动模式 + ${Green_font_prefix}2.${Font_color_suffix} 自动模式 + ${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c" + echo && stty erase ^? && read -p "请输入数字 [1-2]：" armnum + case "$armnum" in + 1) + roslaunch move2grasp teleop2grasp.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} + ;; + 2) + roslaunch move2grasp move2grasp.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} + ;; + *) + echo -e "${Error} 错误，请填入正确的数字" + ;; + esac +} + + spark_test_mode(){ PROJECTPATH=$(cd `dirname $0`; pwd) source ${PROJECTPATH}/devel/setup.bash diff --git a/src/spark/spark_bringup/launch/driver_bringup.launch b/src/spark/spark_bringup/launch/driver_bringup.launch index 55dc63d..d30bb8d 100755 --- a/src/spark/spark_bringup/launch/driver_bringup.launch +++ b/src/spark/spark_bringup/launch/driver_bringup.launch @@ -6,10 +6,11 @@ - + + diff --git a/src/spark/spark_description/launch/spark_description.launch b/src/spark/spark_description/launch/spark_description.launch index d413c0f..2570078 100755 --- a/src/spark/spark_description/launch/spark_description.launch +++ b/src/spark/spark_description/launch/spark_description.launch @@ -3,12 +3,14 @@ + + - + - + diff --git a/src/spark/spark_description/launch/spark_description_rviz.launch b/src/spark/spark_description/launch/spark_description_rviz.launch index 29073f6..24350de 100755 --- a/src/spark/spark_description/launch/spark_description_rviz.launch +++ b/src/spark/spark_description/launch/spark_description_rviz.launch @@ -1,12 +1,13 @@ - + + - + diff --git a/src/spark/spark_description/robots/spark.urdf.xacro b/src/spark/spark_description/robots/spark.urdf.xacro index c2566cb..ee46857 100755 --- a/src/spark/spark_description/robots/spark.urdf.xacro +++ b/src/spark/spark_description/robots/spark.urdf.xacro @@ -8,7 +8,9 @@ + + diff --git a/src/spark/spark_description/urdf/spark_340.urdf.xacro b/src/spark/spark_description/urdf/spark_340.urdf.xacro index 85c2050..f593755 100755 --- a/src/spark/spark_description/urdf/spark_340.urdf.xacro +++ b/src/spark/spark_description/urdf/spark_340.urdf.xacro @@ -12,11 +12,21 @@ + + + + - + + + + + + + diff --git a/src/spark/spark_teleop/launch/app_op.launch b/src/spark/spark_teleop/launch/app_op.launch old mode 100755 new mode 100644 index f2601cf..79e76cf --- a/src/spark/spark_teleop/launch/app_op.launch +++ b/src/spark/spark_teleop/launch/app_op.launch @@ -2,9 +2,14 @@ + + + + + diff --git a/src/spark/spark_teleop/launch/teleop.launch b/src/spark/spark_teleop/launch/teleop.launch index 0dfbe65..f1b947f 100755 --- a/src/spark/spark_teleop/launch/teleop.launch +++ b/src/spark/spark_teleop/launch/teleop.launch @@ -2,12 +2,15 @@ - + + + + + - diff --git a/src/spark/spark_teleop/launch/teleop_only.launch b/src/spark/spark_teleop/launch/teleop_only.launch old mode 100755 new mode 100644 diff --git a/src/spark/spark_teleop/rviz/teleop_astra.rviz b/src/spark/spark_teleop/rviz/teleop_astra.rviz index 7bc0b57..35f69c0 100755 --- a/src/spark/spark_teleop/rviz/teleop_astra.rviz +++ b/src/spark/spark_teleop/rviz/teleop_astra.rviz @@ -1,13 +1,12 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /TF1/Frames1 - - /PointCloud21 Splitter Ratio: 0.5 - Tree Height: 75 + Tree Height: 140 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -16,7 +15,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679016 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 @@ -27,6 +26,8 @@ Panels: Name: Time SyncMode: 0 SyncSource: Image +Preferences: + PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: @@ -38,7 +39,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -246,6 +247,7 @@ Visualization Manager: Value: false spark_stack: Value: false + Marker Alpha: 1 Marker Scale: 1 Name: TF Show Arrows: true @@ -321,8 +323,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 2.84632468 - Min Value: -0.040540576 + Max Value: 3.607553005218506 + Min Value: 0.008338510990142822 Value: true Axis: Z Channel Name: intensity @@ -333,21 +335,47 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.00999999978 + Size (m): 0.009999999776482582 Style: Flat Squares Topic: /camera/depth/points Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -363,7 +391,10 @@ Visualization Manager: - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint @@ -375,33 +406,33 @@ Visualization Manager: Class: rviz/Orbit Distance: 10 Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: X: 0 Y: 0 Z: 0 Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.415398329 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.41539832949638367 Target Frame: - Value: Orbit (rviz) - Yaw: 2.71539736 + Yaw: 2.715397357940674 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 576 + Height: 536 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000d7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000105000000d90000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -410,6 +441,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 959 - X: 65 - Y: 24 + Width: 952 + X: 72 + Y: 27 diff --git a/src/spark_app/spark_carry/launch/hsv_detection.launch b/src/spark_app/spark_carry/launch/hsv_detection.launch new file mode 100755 index 0000000..5fe12a4 --- /dev/null +++ b/src/spark_app/spark_carry/launch/hsv_detection.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + diff --git a/src/spark_app/spark_carry/launch/spark_carry_object.launch b/src/spark_app/spark_carry/launch/spark_carry_object.launch old mode 100755 new mode 100644 diff --git a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch index 03d10a4..e83ee3f 100755 --- a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch +++ b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch @@ -1,6 +1,6 @@ - + @@ -8,6 +8,7 @@ + diff --git a/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch b/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch index 14b1750..72412f4 100755 --- a/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch +++ b/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch @@ -2,16 +2,19 @@ + + - - + + + diff --git a/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch b/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch old mode 100755 new mode 100644 index 4608e82..5b3c706 --- a/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch +++ b/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch @@ -1,19 +1,20 @@ - - - - - - - - - + + + + + + + + + - - + + + diff --git a/src/spark_app/spark_slam/launch/2d_slam.launch b/src/spark_app/spark_slam/launch/2d_slam.launch index d4defc2..9e87f47 100755 --- a/src/spark_app/spark_slam/launch/2d_slam.launch +++ b/src/spark_app/spark_slam/launch/2d_slam.launch @@ -6,17 +6,19 @@ - + + - - + + + diff --git a/src/spark_app/spark_slam/launch/2d_slam_norviz.launch b/src/spark_app/spark_slam/launch/2d_slam_norviz.launch index 66bdb29..fc43c56 100755 --- a/src/spark_app/spark_slam/launch/2d_slam_norviz.launch +++ b/src/spark_app/spark_slam/launch/2d_slam_norviz.launch @@ -6,20 +6,20 @@ - - - - - - - - + + + + + + + - - + + + diff --git a/src/spark_app/spark_slam/launch/2d_slam_teleop.launch b/src/spark_app/spark_slam/launch/2d_slam_teleop.launch index c7e2aff..05c348c 100755 --- a/src/spark_app/spark_slam/launch/2d_slam_teleop.launch +++ b/src/spark_app/spark_slam/launch/2d_slam_teleop.launch @@ -1,12 +1,14 @@ + + diff --git a/src/spark_driver/lidar/iiiroboticslidar2/CMakeLists.txt b/src/spark_driver/lidar/iiiroboticslidar2/CMakeLists.txt old mode 100755 new mode 100644 index 2b8d202..0b15095 --- a/src/spark_driver/lidar/iiiroboticslidar2/CMakeLists.txt +++ b/src/spark_driver/lidar/iiiroboticslidar2/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 2.8.3) project(iiiroboticslidar2) -set(iiiroboticslidar2_SDK_PATH "./sdk/") +set(delta_lidar_SDK_PATH "./sdk/") -FILE(GLOB iiiroboticslidar2_SDK_SRC - "${iiiroboticslidar2_SDK_PATH}/src/*.cpp" +FILE(GLOB delta_lidar_SDK_SRC + "${delta_lidar_SDK_PATH}/src/*.cpp" ) find_package(catkin REQUIRED COMPONENTS @@ -14,20 +14,20 @@ find_package(catkin REQUIRED COMPONENTS ) include_directories( - ${iiiroboticslidar2_SDK_PATH}/include - ${iiiroboticslidar2_SDK_PATH}/src + ${delta_lidar_SDK_PATH}/include + ${delta_lidar_SDK_PATH}/src ${catkin_INCLUDE_DIRS} ) catkin_package() -add_executable(iiirobotics_lidar2_node src/node.cpp ${iiiroboticslidar2_SDK_SRC}) -target_link_libraries(iiirobotics_lidar2_node ${catkin_LIBRARIES} -lrt) +add_executable(delta_lidar_node src/node.cpp ${delta_lidar_SDK_SRC}) +target_link_libraries(delta_lidar_node ${catkin_LIBRARIES} -lrt) -add_executable(iiirobotics_lidar2_node_client src/client.cpp) -target_link_libraries(iiirobotics_lidar2_node_client ${catkin_LIBRARIES}) +add_executable(delta_lidar_node_client src/client.cpp) +target_link_libraries(delta_lidar_node_client ${catkin_LIBRARIES}) -install(TARGETS iiirobotics_lidar2_node iiirobotics_lidar2_node_client +install(TARGETS delta_lidar_node delta_lidar_node_client ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/src/spark_driver/lidar/iiiroboticslidar2/launch/3iroboticslidar2.launch b/src/spark_driver/lidar/iiiroboticslidar2/launch/3iroboticslidar2.launch index 3f7967f..f014d89 100755 --- a/src/spark_driver/lidar/iiiroboticslidar2/launch/3iroboticslidar2.launch +++ b/src/spark_driver/lidar/iiiroboticslidar2/launch/3iroboticslidar2.launch @@ -1,5 +1,5 @@ - + diff --git a/src/spark_driver/lidar/iiiroboticslidar2/package.xml b/src/spark_driver/lidar/iiiroboticslidar2/package.xml old mode 100755 new mode 100644 index 5013af6..c0a70f9 --- a/src/spark_driver/lidar/iiiroboticslidar2/package.xml +++ b/src/spark_driver/lidar/iiiroboticslidar2/package.xml @@ -2,7 +2,7 @@ iiiroboticslidar2 1.0.0 - The 3iRoboticsLidar ros package, support 3iRoboticsLidar + The iiiroboticslidar2 ros package, support delta_lidar 3i Robotics ROS Maintainer BSD diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/C3iroboticsLidar.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/C3iroboticsLidar.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CArcTime.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CArcTime.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CCountDown.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CCountDown.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CDeviceConnection.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CDeviceConnection.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacket.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacket.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketReceiver.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketReceiver.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketSender.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketSender.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLogUtitls.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLogUtitls.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CSerialConnection.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CSerialConnection.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CTime.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CTime.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/typedef.h b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/typedef.h old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/C3iroboticsLidar.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/C3iroboticsLidar.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CArcTime.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CArcTime.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CCountDown.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CCountDown.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CDeviceConnection.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CDeviceConnection.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacket.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacket.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketReceiver.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketReceiver.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketSender.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketSender.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CSerialConnection.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CSerialConnection.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CTime.cpp b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CTime.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/src/CMakeLists.txt b/src/spark_driver/lidar/iiiroboticslidar2/src/CMakeLists.txt old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/src/client.cpp b/src/spark_driver/lidar/iiiroboticslidar2/src/client.cpp old mode 100755 new mode 100644 diff --git a/src/spark_driver/lidar/iiiroboticslidar2/src/node.cpp b/src/spark_driver/lidar/iiiroboticslidar2/src/node.cpp old mode 100755 new mode 100644 index d40c8cb..adb6f41 --- a/src/spark_driver/lidar/iiiroboticslidar2/src/node.cpp +++ b/src/spark_driver/lidar/iiiroboticslidar2/src/node.cpp @@ -46,33 +46,41 @@ void publish_scan(ros::Publisher *pub, std::string frame_id) { sensor_msgs::LaserScan scan_msg; - + //printf("node_count = %d\n",node_count); scan_msg.header.stamp = start; scan_msg.header.frame_id = frame_id; scan_msg.angle_min = angle_min; scan_msg.angle_max = angle_max; - scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) /(double)(node_count - 1); + scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) / (360.0f - 1.0f); scan_msg.scan_time = scan_time; - scan_msg.time_increment = scan_time / (double)(node_count-1); + scan_msg.time_increment = scan_time / (double)(node_count - 1); scan_msg.range_min = 0.15; - scan_msg.range_max = 16.0; + scan_msg.range_max = 5.0; - scan_msg.ranges.resize(node_count); - scan_msg.intensities.resize(node_count); + + scan_msg.ranges.resize(360, std::numeric_limits::infinity()); + scan_msg.intensities.resize(360, 0.0); //Unpack data for (size_t i = 0; i < node_count; i++) { + size_t current_angle = floor(nodes[i].angle); + //printf("current_angle = %d\r\n", current_angle); + if(current_angle >= 360.0) + { + //printf("lidar angle over rang\n"); + continue; + } float read_value = (float) nodes[i].distance; - if (read_value == 0.0) - scan_msg.ranges[node_count- 1- i] = std::numeric_limits::infinity(); + if (read_value > scan_msg.range_max || read_value < scan_msg.range_min) + scan_msg.ranges[360 - 1 - current_angle] = std::numeric_limits::infinity(); else - scan_msg.ranges[node_count -1- i] = read_value; + scan_msg.ranges[360 - 1 - current_angle] = read_value; - //scan_msg.intensities[node_count -1- i] = (float) nodes[i].signal; + //scan_msg.intensities[node_count -1- i] = (float) nodes[i].signal; - } + } pub->publish(scan_msg); } @@ -188,7 +196,7 @@ int main(int argc, char * argv[]) } case LIDAR_GRAB_SUCESS: { - robotics_lidar.m_dynamic_scan.resetGrabResult(); + robotics_lidar.m_dynamic_scan.resetGrabResult(); lidar_dynamicscan = robotics_lidar.getLidarDynamicScan(); lidar_scan_size = lidar_dynamicscan.getSize(); diff --git a/src/spark_driver/lidar/lidar_driver_transfer/CMakeLists.txt b/src/spark_driver/lidar/lidar_driver_transfer/CMakeLists.txt new file mode 100644 index 0000000..f8a6cd1 --- /dev/null +++ b/src/spark_driver/lidar/lidar_driver_transfer/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(lidar_driver_transfer) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES lidar_driver_transfer +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/lidar_driver_transfer.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/lidar_driver_transfer_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_lidar_driver_transfer.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/spark_driver/lidar/lidar_driver_transfer/launch/3iroboticslidar2.launch b/src/spark_driver/lidar/lidar_driver_transfer/launch/3iroboticslidar2.launch new file mode 100644 index 0000000..0d11038 --- /dev/null +++ b/src/spark_driver/lidar/lidar_driver_transfer/launch/3iroboticslidar2.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/src/spark_driver/lidar/lidar_driver_transfer/launch/ydlidar_g2.launch b/src/spark_driver/lidar/lidar_driver_transfer/launch/ydlidar_g2.launch new file mode 100644 index 0000000..c9ec614 --- /dev/null +++ b/src/spark_driver/lidar/lidar_driver_transfer/launch/ydlidar_g2.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/src/spark_driver/lidar/lidar_driver_transfer/package.xml b/src/spark_driver/lidar/lidar_driver_transfer/package.xml new file mode 100644 index 0000000..32e7f6c --- /dev/null +++ b/src/spark_driver/lidar/lidar_driver_transfer/package.xml @@ -0,0 +1,68 @@ + + + lidar_driver_transfer + 0.0.0 + The lidar_driver_transfer package + + + + + spark + + + + + + TODO + + + + + + + + + + + + litian.zhuang + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/.gitignore b/src/spark_driver/lidar/ydlidar_g2/.gitignore new file mode 100644 index 0000000..4581ef2 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/.gitignore @@ -0,0 +1,29 @@ +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/src/spark_driver/lidar/ydlidar_g2/CMakeLists.txt b/src/spark_driver/lidar/ydlidar_g2/CMakeLists.txt new file mode 100644 index 0000000..f9035bc --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ydlidar_g2) +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +#add_definitions(-std=c++11) # Use C++11 + +find_package(catkin REQUIRED COMPONENTS + rosconsole + roscpp + sensor_msgs +) + +#add_subdirectory(sdk) + +set(SDK_PATH "./sdk/") + +FILE(GLOB SDK_SRC + "${SDK_PATH}/src/impl/unix/*.cpp" + "${SDK_PATH}/src/*.cpp" + "${SDK_PATH}/src/*.c" +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} + ${PROJECT_SOURCE_DIR}/src + ${PROJECT_SOURCE_DIR}/sdk/include + ${PROJECT_SOURCE_DIR}/sdk/src +) + +add_executable(ydlidar_g2_node src/ydlidar_node.cpp ${SDK_SRC}) +add_executable(ydlidar_g2_client src/ydlidar_client.cpp) + +target_link_libraries(ydlidar_g2_node + ${catkin_LIBRARIES} + ) +target_link_libraries(ydlidar_g2_client + ${catkin_LIBRARIES} + ) + +install(TARGETS ydlidar_g2_node ydlidar_g2_client + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + + +install(DIRECTORY launch startup sdk + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + + diff --git a/src/spark_driver/lidar/ydlidar_g2/README.md b/src/spark_driver/lidar/ydlidar_g2/README.md new file mode 100644 index 0000000..698b02d --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/README.md @@ -0,0 +1,104 @@ +YDLIDAR ROS驱动包(V1.4.2) +===================================================================== + + + +怎么构建ROS驱动包 +===================================================================== + 1) Clone this project to your catkin's workspace src folder + (1). git clone https://github.com/YDLIDAR/ydlidar_ros + (2). git chectout gaussian + 2) Running catkin_make to build ydlidar_node and ydlidar_client + 3) Create the name "/dev/ydlidar" for YDLIDAR + --$ roscd ydlidar_ros/startup + --$ sudo chmod 777 ./* + --$ sudo sh initenv.sh + +怎样运行YDLIDAR ROS 包 +===================================================================== +有两种方式运行方式 + +1. 运行YDLIDAR 节点并在RVIZ上显示 +------------------------------------------------------------ + roslaunch ydlidar_ros lidar_view.launch + +2.运行YDLIDAR 节点在终端上显示 +------------------------------------------------------------ + roslaunch ydlidar_ros lidar.launch + + rosrun ydlidar_ros ydlidar_client + + + +配置参数 +===================================================================== +port (string, default: /dev/ydlidar) + + 当前雷达端口号 + +baudrate (int, default:230400) + + 当前雷达波特率（G2 G2A: 230400, G2C:115200) + +frame_id (string, default: laser_frame) + + 雷达坐标系名称 + +reversion (bool, default: true) + + 是否旋转雷达数据180度 + +resolution_fixed (bool, default: true) + + 是否固定角度分辨率输出 +auto_reconnect(bool, default: true) + + 是否雷达支持热插拔 + +angle_min (double, default: -180) + + 雷达最小有效角度 + +angle_max (double, default: 180) + + 雷达最大有效角度 + +range_min (double, default: 0.08) + + 雷达最小有效距离 + +range_max (double, default: 16.0) + + 雷达最大有效距离 + +ignore_array (string, default: "") + + 剔除角度列表 + +frequency (double, default: 10) + + 雷达扫描频率 + + + + +更新日志 +===================================================================== + +2019-07-16 version:1.4.2 + + 1.扫描频率偏移 + +2019-03-25 version:1.4.1 + + 1.修复内存泄露. + +2019-03-25 version:1.4.0 + + 1.修复时间戳错误 + + 2.雷达启动异常检测 + + 3.移除别的雷达型号支持, 仅仅支持G2A雷达 + + 4.优化turnOn 和 turnOff diff --git a/src/spark_driver/lidar/ydlidar_g2/launch/display.launch b/src/spark_driver/lidar/ydlidar_g2/launch/display.launch new file mode 100644 index 0000000..4ae6374 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/launch/display.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/launch/gazebo.launch b/src/spark_driver/lidar/ydlidar_g2/launch/gazebo.launch new file mode 100644 index 0000000..29dd1b0 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/launch/lidar.launch b/src/spark_driver/lidar/ydlidar_g2/launch/lidar.launch new file mode 100644 index 0000000..7e9bbcd --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/launch/lidar.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/launch/lidar.rviz b/src/spark_driver/lidar/ydlidar_g2/launch/lidar.rviz new file mode 100644 index 0000000..7c630f9 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/launch/lidar.rviz @@ -0,0 +1,128 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /LidarLaserScan1 + Splitter Ratio: 0.5 + Tree Height: 413 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0 + Min Value: 0 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LidarLaserScan + Position Transformer: XYZ + Queue Size: 1000 + Selectable: true + Size (Pixels): 5 + Size (m): 0.03 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: laser_frame + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 11.1184 + Focal Point: + X: -0.0344972 + Y: 0.065886 + Z: 0.148092 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.615399 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.82358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 626 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1215 + X: 65 + Y: 24 diff --git a/src/spark_driver/lidar/ydlidar_g2/launch/lidar_view.launch b/src/spark_driver/lidar/ydlidar_g2/launch/lidar_view.launch new file mode 100644 index 0000000..4ea1603 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/launch/lidar_view.launch @@ -0,0 +1,4 @@ + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.dae b/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.dae new file mode 100644 index 0000000..894cb92 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.dae @@ -0,0 +1,297 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2018-04-27T21:52:30 + 2018-04-27T21:52:30 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + 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+ + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.02812275 -0.01328455 0.02671389 0.3067264 0.02983473 0.01252226 -0.02518099 -0.2668132 -1.64465e-10 0.03671122 0.01825613 0.2190903 0 0 0 1 + + + + -0.01192545 -0.03161514 0.02322212 0.167126 0.03916202 -0.008195213 0.008954038 0.04122361 -0.002262754 0.02478551 0.03258156 0.2420584 0 0 0 1 + + + + 0.0010414 0 0 -0.007113254 0 0.0010414 -4.55211e-11 0.00185328 0 4.55211e-11 0.0010414 0.02477176 0 0 0 1 + + + + + + + + + + + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.png b/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.png new file mode 100644 index 0000000..111e6d8 Binary files /dev/null and b/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.png differ diff --git a/src/spark_driver/lidar/ydlidar_g2/package.xml b/src/spark_driver/lidar/ydlidar_g2/package.xml new file mode 100644 index 0000000..c18f8ef --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/package.xml @@ -0,0 +1,56 @@ + + + ydlidar_g2 + 1.4.2 + The ydlidar package + + + + + shao + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rosconsole + roscpp + sensor_msgs + rosconsole + roscpp + sensor_msgs + + + + + + + + diff --git a/src/spark_driver/lidar/ydlidar_g2/sdk/CMakeLists.txt b/src/spark_driver/lidar/ydlidar_g2/sdk/CMakeLists.txt new file mode 100644 index 0000000..b9ab71a --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/sdk/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.8) +#add_definitions(-std=c++11) # Use C++11 +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +include_directories(include) +include_directories(src) + +IF (WIN32) +FILE(GLOB SDK_SRC + "src/*.cpp" + "src/*.c" + "src/*.h" + "src/impl/windows/*.cpp" + "src/impl/windows/*.h" +) + +ELSE() +FILE(GLOB SDK_SRC + "src/*.cpp" + "src/*.c" + "src/*.h" + "src/impl/unix/*.cpp" + "src/impl/unix/*.h" +) + + +ENDIF() + +add_subdirectory(samples) + +add_library(ydlidar_driver STATIC ${SDK_SRC}) +IF (WIN32) +target_link_libraries(ydlidar_driver setupapi Winmm) +ELSE() +target_link_libraries(ydlidar_driver rt pthread) +ENDIF() diff --git a/src/spark_driver/lidar/ydlidar_g2/sdk/README.md b/src/spark_driver/lidar/ydlidar_g2/sdk/README.md new file mode 100644 index 0000000..583ac66 --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/sdk/README.md @@ -0,0 +1,247 @@ +![YDLIDAR](image/index-X4.jpg "YDLIDAR_X4") + +YDLIDAR SDK [![Build Status](https://travis-ci.org/cansik/sdk.svg?branch=samsung)](https://travis-ci.org/cansik/sdk) [![Build status](https://ci.appveyor.com/api/projects/status/2w9xm1dbafbi7xc0?svg=true)](https://ci.appveyor.com/project/cansik/sdk) [![codebeat badge](https://codebeat.co/badges/3d8634b7-84eb-410c-b92b-24bf6875d8ef)](https://codebeat.co/projects/github-com-cansik-sdk-samsung) +===================================================================== + + +Introduction +------------------------------------------------------------------------------------------------------------------------------------------------------- + +YDLIDAR(https://www.ydlidar.com/) series is a set of high-performance and low-cost LIDAR sensors, which is the perfect sensor of 2D SLAM, 3D reconstruction, multi-touch, and safety applications. + +If you are using ROS (Robot Operating System), please use our open-source [ROS Driver]( https://github.com/ydlidar/ydlidar) . + +Licence +------------------------------------------------------------------------------------------------------------------------------------------------------- + +The SDK itself is licensed under BSD [License](license) + +Release Notes +------------------------------------------------------------------------------------------------------------------------------------------------------- +| Title | Version | Data | +| :-------- | --------:| :--: | +| SDK | 1.4.2 | 2019-08-29 | + + +- [feature] offset angle. + + + + +Dataset +------------------------------------------------------------------------------------------------------------------------------------------------------- + + +| Model | Baudrate | Sampling Frequency | Range(m) | Scanning Frequency(HZ) | Working temperature(°C) | Laser power max(mW) | voltage(V) | Current(mA) | Intensity +| :-------- | --------:|--------:| --------:| --------:|--------:| --------:| --------:| --------:| :--: | +| G2A | 230400 | 5000 | 0.12-12 |5-12|0-50| ~5|4.8-5.2|400-480| false | +| G2 | 230400 | 5000 | 0.12-12 |5-12|0-50| ~5|4.8-5.2|400-480| true | +| G2C | 230400 | 4000 | 0.12-12 |5-12|0-50| ~5|4.8-5.2|400-480| false | + +How to build YDLIDAR SDK samples +--------------- + $ git clone https://github.com/ydlidar/sdk + $ cd sdk + $ git checkout G2 + $ cd .. + $ mkdir build + $ cd build + $ cmake ../sdk + $ make ###linux + $ vs open Project.sln ###windows + +How to run YDLIDAR SDK samples +--------------- + $ cd samples + +linux: + + $ ./ydlidar_test + $Please enter the lidar serial port:/dev/ttyUSB0 + +windows: + + $ ydlidar_test.exe + $Please enter the lidar serial port:/dev/ttyUSB0 + + +You should see YDLIDAR's scan result in the console: + + [YDLIDAR]:SDK Version: 1.4.2 + [YDLIDAR]:Lidar running correctly ! The health status: good + [YDLIDAR] Connection established in [/dev/ttyUSB0][230400]: + Firmware version: 1.1 + Hardware version: 1 + Model: G2 + Serial: 2019071800011111 + [YDLIDAR INFO] Current Sampling Rate : 5K + [YDLIDAR INFO] Current Scan Frequency : 10.000000Hz + [YDLIDAR INFO] Now YDLIDAR is scanning ...... + Scan received: 500 ranges + Scan received: 503 ranges + + + + + +Data structure +------------------------------------------------------------------------------------------------------------------------------------------------------- + +data structure: + + //! A struct for returning configuration from the YDLIDAR + struct LaserConfig { + + //! Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. + float min_angle; + + //! Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. + float max_angle; + + //! Scan resolution [rad]. + float ang_increment; + + //! Scan resoltuion [ns] + float time_increment; + + //! Time between scans + float scan_time; + + //! Minimum range [m] + float min_range; + + //! Maximum range [m] + float max_range; + + //! Range Resolution [m] + float range_res; + + }; + + + struct LaserScan { + + //! Array of ranges + std::vector ranges; + + //! Array of intensities + std::vector intensities; + + //! Self reported time stamp in nanoseconds + uint64_t self_time_stamp; + + //! System time when first range was measured in nanoseconds + uint64_t system_time_stamp; + + //! Configuration of scan + LaserConfig config; + + }; + +example angle parsing: + + LaserScan scan; + + for(size_t i =0; i < scan.ranges.size(); i++) { + + // current angle + double angle = scan.config.min_angle + i*scan.config.ang_increment;// radian format + + //current distance + double distance = scan.ranges[i];//meters + + //current intensity + int intensity = scan.intensities[i]; + + } + + +Coordinate System +------------------------------------------------------------------------------------------------------------------------------------------------------- + +![Coordinate](image/image.png "Coordinate") + + + +### The relationship between the angle value and the data structure in the above figure: + + double current_angle = scan.config.min_angle + index*scan.config.ang_increment;// radian format + doube Angle = current_angle*180/M_PI;//Angle fomat + + +Upgrade Log +--------------- + +2019-08-29 version 1.4.2 + + 1.offset angle. + +2019-08-12 version 1.4.2 + + 1.support G2 G2A G2C. + +2019-05-10 version:1.4.1 + + 1.fix memory leak. + +2019-03-25 version:1.4.0 + + 1.fix Large motor resistance at startup issues. + + 2.fix ascendScanData timestamp issues. + + 3.check lidar abnormality when turn on lidar. + + 4.only support G4 lidar + + 5.Remove other lidar model interfaces functions. + + 6.fix turnOn function. + +2018-12-07 version:1.3.9 + + 1.Remove other lidar model interfaces functions. + + 2.Remove heartbeat + +2018-11-24 version:1.3.8 + + 1.Reduce abnormal situation recovery time. + + 2.fix timestamp from zero. + +2018-10-26 version:1.3.7 + + 1.add input angle calibration file. + + 2.remove network. + +2018-10-15 version:1.3.6 + + 1.add network support. + +2018-05-23 version:1.3.4 + + 1.add automatic reconnection if there is an exception + + 2.add serial file lock. + +2018-05-14 version:1.3.3 + + 1.add the heart function constraint. + + 2.add packet type with scan frequency support. + +2018-04-16 version:1.3.2 + + 1.add multithreading support. + +2018-04-16 version:1.3.1 + + 1.Compensate for each laser point timestamp. + + + Contact EAI +--------------- + +If you have any extra questions, please feel free to [contact us](http://www.ydlidar.cn/cn/contact) diff --git a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/Doxyfile b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/Doxyfile new file mode 100644 index 0000000..b9be8ef --- /dev/null +++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/Doxyfile @@ -0,0 +1,2479 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "YDLIDAR-SS SDK" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = V2.0.0 + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = /home/yang/Samsung/sdk/doc/html/ydliar.png + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = /home/yang/Samsung/sdk/doc + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = "The $name class" \ + "The $name widget" \ + "The $name file" \ + is \ + provides \ + specifies \ + contains \ + represents \ + a \ + an \ + the + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = /home/yang/Samsung/sdk + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.py \ + *.pyw \ + *.f90 \ + *.f \ + *.for \ + *.tcl \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.as \ + *.js + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /