The Util library: Functionality not necessarily coupled to any particular core library, serving more as a common base layer behind all systems. More...

Namespaces
	container_policies
	Flags or arguments to specify what features you want ContainerWrapper to provide publicly. Pass as template args to ContainerWrapper to request a feature.

	eigen_interop

	filters
	Filters for use with Eigen datatypes.

	messagekeys
	Contains methods to retrieve the constant strings identifying message or sender types.

	time
	Functionality related to time and the OSVR_TimeValue abstraction.Note that this is for C API-bordering areas. For purely C++ code, please use std::chrono for your time needs.

	tree
	Contains a generic tree. This namespace exists to assist in argument-dependent lookup with tree-related nonmembers, the class template TreeNode is imported into the parent namespace.

	typesafeid_traits
	Namespace for traits templates associated with osvr::util::TypeSafeId.

	unique_container_policies
	Policies controlling behavior of UniqueContainer.

Classes
class	AlignedAllocDeleter
	Deleter class matching alignedAlloc. More...

class	AnyMap
	A data structure storing "any" by name, to reduce coupling. More...

class	BasicKeyedOwnershipContainer
	Holds on to smart pointers by value, and lets you free them by providing the corresponding void *. More...

class	CallbackWrapper
	A class template turning a callback with some number of arguments, with a userdata pointer last, into a function object. More...

class	CellGroupProxy

struct	Conditional
	Quick C++11-aligned conditional (if/then/elese) implementation. More...

struct	Conditional< false, Then, Else >

class	CSV

class	CSVBase

class	DefaultBool
	A class template primarily useful for flags, that has a defined value at default initialization. More...

class	Deletable
	Base class for objects that just need to be generically deletable. More...

class	DummyGuard

struct	EnableIf
	Quick C++11-aligned enable_if implementation. More...

struct	EnableIf< true, T >

class	FinalTask

class	Flag
	A class that lightly wraps a bool, in order to provide easier maintenance of a "dirty" flag, for example, with sensible default initialization and no short-circuiting. More...

class	GuardInterface
	An interface to a (deferred) guard class: after instantiation and lock returning true, some resource is locked and available until destruction. More...

struct	HashIdAggregate

struct	HashIdAggregate< std::pair< TypeSafeId< FirstTag >, TypeSafeId< SecondTag > > >

class	IndentingStream
	A boost::iostreams::filtering_ostream with a constructor that automatically sets it up to indent the first character after a newline the given number of spaces and forward the output to a std::ostream. More...

class	MultipleReferenceOwnershipPolicy

class	NumberTypeData
	Runtime data on numeric types. More...

class	PointerWrapper
	A wrapper to easily define structures that exist just to hold a pointer. More...

class	Rect

class	ResourcePath
	Class representing a host and resource path in the OSVR logical system. More...

class	SingleOwnershipPolicy

class	StreamCSV

class	StringBufferBuilder
	A utility class to adapt APIs that first provide a length, then place a string in a user-allocated buffer, to nearly transparently handle the buffer and convert into a std::string. More...

class	TypeSafeId

class	TypeSafeIdBase
	A generic typesafe (as long as you use differing tag types) wrapper for identifiers (typically integers). More...

class	TypeSafeIdRefAccessorBase

class	UniqueContainer
	A "Unique Container" designed for composition, not inheritance. More...

class	UniqueContainerBase
	A policy-based generic "Unique Container", that wraps ContainerWrapper (and thus an underlying container) with set-like semantics/invariant: at most one instance of a value is in the container at a time. More...

class	ValueOrRange
	Class providing a unified container-like interface to either a single value or a range of integers. More...

Typedefs
using	AlignedPtr = unique_ptr< void, AlignedAllocDeleter >

using	AlignedImageBufferPtr = unique_ptr< OSVR_ImageBufferElement, AlignedAllocDeleter >

template<typename System , typename Y = double>
using	AngleGeneric = boost::units::quantity< boost::units::unit< boost::units::plane_angle_dimension, System >, Y >
	Convenience template alias for a plane_angle quantity in an arbitrary system with arbitrary scalar.

template<typename Y >
using	AngleRadians = boost::units::quantity< boost::units::si::plane_angle, Y >
	Alias for an angle in radians with arbitrary scalar type.

template<typename Y >
using	AngleDegrees = boost::units::quantity< boost::units::degree::plane_angle, Y >
	Alias for an angle in degrees with arbitrary scalar type.

typedef AngleRadians< double >	AngleRadiansd

typedef AngleDegrees< double >	AngleDegreesd

typedef AngleRadiansd	Angle
	Default angle type.

template<typename Container , typename... Args>
using	ContainerWrapper = detail::ContainerWrapper_t< Container, Args...>
	Parent class to inherit from to get a container with some functionality exposed. More...

using	ColMatrix44d = Eigen::Matrix4d

using	ColVector3d = Eigen::Vector3d

using	ColVector4d = Eigen::Vector4d

using	RowMatrix44d = Eigen::Matrix< double, 4, 4, Eigen::RowMajor >

template<typename Scalar >
using	Isometry3 = Eigen::Transform< Scalar, 3, Eigen::Isometry >

template<typename Scalar >
using	Translation3 = Eigen::Translation< Scalar, 3 >

typedef unique_ptr < util::GuardInterface >	GuardPtr

typedef BasicKeyedOwnershipContainer < SingleOwnershipPolicy >	KeyedOwnershipContainer

typedef BasicKeyedOwnershipContainer < MultipleReferenceOwnershipPolicy >	MultipleKeyedOwnershipContainer

typedef Rect	Rectd

template<std::size_t minBytes, bool isSigned = false>
using	sized_int_t = typename detail::sized_int< minBytes, isSigned >::type

typedef shared_ptr< Deletable >	DeletablePtr
	Shared-ownership smart pointer to a Deletable.

typedef ::std::vector < DeletablePtr >	DeletableList
	Vector of shared-ownership smart pointers.

typedef TypeSafeId < LocalStringIdTag >	StringID

typedef TypeSafeId < PeerStringIdTag >	PeerStringID

Enumerations
enum	{ DefaultOSVRPort = 3883, DefaultVRPNPort = 3883 }

enum	{ UseDefaultPort = -1, OmitAppendingPort = -2 }

Functions
void *	alignedAlloc (size_t bytes, size_t alignment=OSVR_DEFAULT_ALIGN_SIZE)
	Aligned allocation function, gives a pointer to a block of memory aligned to a memory boundary.

void	alignedFree (void *p)
	Aligned deallocation function, uses the pointer to the original memory block to deallocate it.

AlignedPtr	makeAlignedBuffer (size_t bytes, size_t alignment=OSVR_DEFAULT_ALIGN_SIZE)

AlignedImageBufferPtr	makeAlignedImageBuffer (size_t bytes, size_t alignment=OSVR_DEFAULT_ALIGN_SIZE)

template<typename System , typename Y >
Y	getRadians (AngleGeneric< System, Y > const angle)
	Get the raw scalar value of your angle in radians.

template<typename System , typename Y >
Y	getDegrees (AngleGeneric< System, Y > const angle)
	Get the raw scalar value of your angle in degrees.

std::string	getBinaryLocation ()

template<typename T >
detail::Cell< T >	cell (const char *header, T const &data)
	Helper free function to make a CSV cell.

template<typename T >
detail::Cell< T >	cell (std::string const &header, T const &data)
	Helper free function to make a CSV cell.

template<typename RowProxyType , typename GroupTag , typename... CellArgs>
CellGroupProxy< RowProxyType, GroupTag > &	operator<< (CellGroupProxy< RowProxyType, GroupTag > &group, detail::Cell< CellArgs...> &&currentCell)

template<typename T >
detail::CellGroup< T >	cellGroup (const char *groupHeader, T const &data)
	Helper function to create a cell group with a group header prefix.

template<typename T >
detail::CellGroup< T, std::string >	cellGroup (std::string const &groupHeader, T const &data)
	Helper function to create a cell group with a group header prefix.

template<typename Tag , typename T >
detail::CellGroup< T, const char *, Tag >	cellGroup (const char groupHeader, T const &data, Tag =static_cast< Tag * >(nullptr))

template<typename Tag , typename T >
detail::CellGroup< T, std::string, Tag >	cellGroup (std::string const &groupHeader, T const &data, Tag =static_cast< Tag >(nullptr))

template<typename T >
detail::CellGroup< T >	cellGroup (T const &data)

template<typename Tag , typename T >
detail::CellGroup< T, const char *, Tag >	cellGroup (T const &data, Tag =static_cast< Tag >(nullptr))

template<typename T >
void	operator<< (CellGroupProxy< T, DefaultGroupTag > &group, time::TimeValue const &tv)

template<typename T >
void	operator<< (CellGroupProxy< T, AbbreviatedTimeMemberFieldsTag > &group, time::TimeValue const &tv)

template<typename T >
void	operator<< (CellGroupProxy< T, DecimalTimeFieldTag > &group, time::TimeValue const &tv)

template<typename T >
void	operator<< (CellGroupProxy< T, DefaultGroupTag > &group, OSVR_Vec3 const &v)

template<typename T >
void	operator<< (CellGroupProxy< T, DefaultGroupTag > &group, OSVR_Quaternion const &q)

template<typename Derived >
detail::SameLayoutVector < 4, Derived >	makeHomogeneousPoint (Eigen::MatrixBase< Derived > const &vec)
	Makes a 3D vector into a 4D homogeneous point, with the same options (scalar, row vs col vector) as the input.

template<typename Derived >
detail::SameLayoutVector < 4, Derived >	makeHomogeneousVector (Eigen::MatrixBase< Derived > const &vec)
	Makes a 3D vector into a 4D homogeneous vector, with the same options (scalar, row vs col vector) as the input.

template<typename Derived >
detail::SameLayoutVector < 3, Derived >	extractPoint (Eigen::MatrixBase< Derived > const &homogenous)
	Pulls the 3D point or vector from a 4D vec, performing division by `w` if it is nonzero.

template<typename Derived1 , typename Derived2 >
Isometry3< typename Derived1::Scalar >	makeIsometry (Eigen::MatrixBase< Derived1 > const &translation, Eigen::RotationBase< Derived2, 3 > const &rotation)
	A simpler, functional-style alternative to `.fromPositionOrientationScale` when no scaling is performed.

Eigen::Quaterniond	flipQuatSignToMatch (Eigen::Quaterniond const &refQ, Eigen::Quaterniond const &q)

Eigen::Map< Eigen::Vector3d >	vecMap (OSVR_Vec3 &vec)
	Wrap an OSVR_Vec3 in an Eigen object that allows it to interoperate with Eigen as though it were an Eigen::Vector3d. More...

Eigen::Map< const Eigen::Vector3d >	vecMap (OSVR_Vec3 const &vec)

Eigen::Quaterniond	fromQuat (OSVR_Quaternion const &q)
	Convert an OSVR_Quaternion to an Eigen::Quaterniond.

void	toQuat (Eigen::Quaterniond const &src, OSVR_Quaternion &q)
	Convert an Eigen::Quaterniond to a OSVR_Quaternion.

Eigen::Isometry3d	fromPose (OSVR_Pose3 const &pose)
	Turn an OSVR_Pose3 into an Eigen::Transform. More...

void	toPose (Eigen::Isometry3d const &xform, OSVR_Pose3 &pose)
	Turn an Eigen::Isometry3d (transform) into an OSVR_Pose3. More...

void	toPose (Eigen::Matrix4d const &mat, OSVR_Pose3 &pose)
	Turn an Eigen::Matrix4d (transform) into an OSVR_Pose3. More...

template<typename T >
auto	extractYaw (T const &quat) -> decltype(std::atan(quat.w()))

template<typename F >
FinalTask< F >	finally (F &&f)

template<typename F >
FinalTask< F >	finally (F const &f)

template<typename T >
void	generic_deleter (void *obj)
	Generic deleter function, wrapping the stock delete call. More...

boost::optional< std::string >	getEnvironmentVariable (std::string const &var)
	Gets an environment variable's value. On systems that don't distinguish between having a variable defined and having it non-empty (like Windows), empty will imply not defined and thus an empty boost::optional return value. More...

template<typename Scalar , typename T >
void	matrixEigenAssign (T const &src, OSVR_MatrixConventions flags, Scalar *dest)
	Helper function template to assign/convert matrices as required. More...

template<typename Functor >
bool	opencvTypeDispatch (int openCVType, Functor &f)
	Given an OpenCV type depth and a reference to a functor, calls that functor with a single parameter: the corresponding type wrapped in boost::mpl::identity. More...

NumberTypeData	opencvNumberTypeData (int openCVType)

int	cvTypeFromData (bool isSigned, bool isFloat, size_t depth)
	Computes the OpenCV "type" (also known as depth - as in CV_8U) for a given combination of signed, float, and byte depth.

int	computeOpenCVMatType (OSVR_ImagingMetadata const &metadata)
	Computes the OpenCV matrix type (as in CV_8UC3) from a metadata struct.

std::pair< std::string, std::string >	convertProgramOptionShowHideIntoTrueFalse (std::string s)
	An "additional parser" for Boost.Program_options that will turn any –hide-xyz into –xyz false and –show-xyz into –xyz true.

Eigen::Matrix4d	createProjectionMatrix (Rectd const &bounds, double near, double far)
	Takes in points at the near clipping plane, as well as the near and far clipping planes. Result matrix maps [l, r] and [b, t] to [-1, 1], and [n, f] to [-1, 1] (should be configurable) More...

template<projection_options::OptionType options = projection_options::ZOutputSigned \| projection_options::RightHandedInput>
Eigen::Matrix4d	parameterizedCreateProjectionMatrix (Rectd const &bounds, double near, double far)
	Takes in points at the near clipping plane, as well as the near and far clipping planes. Result matrix maps [l, r] and [b, t] to [-1, 1], and [n, f] to [-1, 1] or [0, 1] depending on presence/absence of ZOutputUnsigned flag bit, taking in right- or left-handed input also as configured.

template<typename System >
Rectd	computeSymmetricFOVRect (AngleGeneric< System > hFov, AngleGeneric< System > vFov)
	Compute a rectangle at unit distance for the given fov values.

template<typename System >
Rectd	computeSymmetricFOVRect (AngleGeneric< System > hFov, AngleGeneric< System > vFov, double near)
	Compute a rectangle at the near clipping plane for the given fov values.

template<typename System >
Eigen::Matrix4d	createSymmetricProjectionMatrix (AngleGeneric< System > hFov, AngleGeneric< System > vFov, double near, double far)

template<typename StreamType , typename Scalar >
StreamType &	operator<< (StreamType &os, Rect< Scalar > const &rect)

template<typename RangeType >
void	resetPointerRange (RangeType range)
	Reset every smart pointer in a container one by one.

template<size_t N>
std::string	makeString (const char(&arrayLiteral)[N])
	Safely and easily convert a literal array of characters (like from osvr_json_to_c) into a std::string.

template<typename Tag , typename T >
detail::CellGroup< T, Tag >	cellGroup (const char groupHeader, T const &data, Tag =static_cast< Tag * >(nullptr))

template<typename Tag , typename T >
detail::CellGroup< T, Tag >	cellGroup (T const &data, Tag =static_cast< Tag >(nullptr))

template<typename T >
void	operator<< (CellGroupProxy< T, DefaultGroupTag > &group, Eigen::Vector3d const &v)

template<typename T >
void	operator<< (CellGroupProxy< T, DefaultGroupTag > &group, Eigen::Quaterniond const &q)

Eigen::Vector3d	getEuler (Eigen::Quaterniond const &q)

template<typename T >
void	operator<< (CellGroupProxy< T, QuatAsEulerTag > &group, Eigen::Vector3d const &euler)

template<typename T >
void	operator<< (CellGroupProxy< T, QuatAsEulerTag > &group, Eigen::Quaterniond const &q)

Detailed Description

The Util library: Functionality not necessarily coupled to any particular core library, serving more as a common base layer behind all systems.

Typedef Documentation

template<typename Container , typename... Args>

using osvr::util::ContainerWrapper = typedef detail::ContainerWrapper_t<Container, Args...>

Parent class to inherit from to get a container with some functionality exposed.

Template Parameters

Container	the underlying container you want, reference accessible via Base::container()
Args	0 or more tag types from osvr::util::container_policies indicating the features you want publicly exposed

Definition at line 232 of file ContainerWrapper.h.

template<std::size_t minBytes, bool isSigned = false>

using osvr::util::sized_int_t = typedef typename detail::sized_int<minBytes, isSigned>::type

Alias providing an integer type (signed or unsigned, your choice) containing at least as many bytes as you requested.

Definition at line 80 of file SizedInt.h.

Enumeration Type Documentation

anonymous enum

Enumerator
DefaultOSVRPort	Todo: Update this for 1.0!

Definition at line 42 of file DefaultPort.h.

anonymous enum

Enumerator
OmitAppendingPort	For use when there may not actually be a port in use: some single process situations, etc.

Definition at line 43 of file PortFlags.h.

Function Documentation

std::string osvr::util::getBinaryLocation ( )

Get this binary's location, often as a step in finding the "root" and search paths.

Definition at line 91 of file BinaryLocation.cpp.

template<typename RowProxyType , typename GroupTag , typename... CellArgs>

CellGroupProxy< RowProxyType, GroupTag > & osvr::util::operator<<	(	CellGroupProxy< RowProxyType, GroupTag > &	group,
		detail::Cell< CellArgs...> &&	currentCell
	)

inline

Handles user results from overloading operator<<(CellGroupProxy<RowProxyType, GroupTag> &group, TheirThing) and sending in cell calls within it.

Definition at line 73 of file CSVCellGroup.h.

template<typename Tag , typename T >

detail::CellGroup<T, const char *, Tag> osvr::util::cellGroup	(	const char *	groupHeader,
		T const &	data,
		Tag *	= `static_cast<Tag *>(nullptr)`
	)

inline

Helper function to create a cell group with a group header prefix and explicit (non-default) tag.

Definition at line 175 of file CSVCellGroup.h.

template<typename Tag , typename T >

detail::CellGroup<T, std::string, Tag> osvr::util::cellGroup	(	std::string const &	groupHeader,
		T const &	data,
		Tag *	= `static_cast<Tag *>(nullptr)`
	)

inline

Helper function to create a cell group with a group header prefix and explicit (non-default) tag.

Definition at line 184 of file CSVCellGroup.h.

template<typename T >

detail::CellGroup< T > osvr::util::cellGroup ( T const & data )

inline

Helper function to create a cell group with no group header prefix - warning: column headers must be unique!

Definition at line 190 of file CSVCellGroup.h.

template<typename Tag , typename T >

detail::CellGroup<T, const char *, Tag> osvr::util::cellGroup	(	T const &	data,
		Tag *	= `static_cast<Tag *>(nullptr)`
	)

inline

Helper function to create a cell group with no group header prefix and explicit (non-default) tag - warning: column headers must be unique!

Definition at line 198 of file CSVCellGroup.h.

template<typename T >

auto osvr::util::extractYaw ( T const & quat ) -> decltype(std::atan(quat.w()))

inline

A utility function to extract "yaw" out of a quaternion, of any representation as long as it responds to .w(), .x(), .y(), and .z(). Uses atan2() internally, and the return type is automatically deduced based on the scalar type in use in your quaternion class.

Reference: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/

Definition at line 47 of file ExtractYaw.h.

template<typename F >

FinalTask<F> osvr::util::finally ( F && f )

inline

Creation free function for final tasks to run on scope exit. Works great when paired with lambdas (particularly with [&] reference capture). Use like: auto f = finally([&]{ dothis(); }); to have dothis() called when f goes out of scope, no matter how.

Perfect forwarding version.

Definition at line 87 of file Finally.h.

template<typename F >

FinalTask<F> osvr::util::finally ( F const & f )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 93 of file Finally.h.

template<typename T >

void osvr::util::generic_deleter ( void * obj )

inline

Generic deleter function, wrapping the stock delete call.

Used in header-only C++ wrappers over C APIs.

Definition at line 33 of file GenericDeleter.h.

boost::optional< std::string > osvr::util::getEnvironmentVariable ( std::string const & var )

Gets an environment variable's value. On systems that don't distinguish between having a variable defined and having it non-empty (like Windows), empty will imply not defined and thus an empty boost::optional return value.

A real implementation of the functionality.

Definition at line 52 of file GetEnvironmentVariable.cpp.

template<typename Scalar , typename T >

void osvr::util::matrixEigenAssign	(	T const &	src,
		OSVR_MatrixConventions	flags,
		Scalar *	dest
	)

inline

Helper function template to assign/convert matrices as required.

Handles memory ordering (transpose) and scalar type conversion automatically/based on the flags passed in.

Parameters

src	An Eigen 4x4 fixed-size matrix or matrix expression (source)
flags	Some matrix convention flags - only the first two (the ones that affect if a transpose is needed) are observed.
dest	A pointer to a contiguous 16-element array (destination for the copy)

Definition at line 51 of file MatrixEigenAssign.h.

template<typename Functor >

bool osvr::util::opencvTypeDispatch	(	int	openCVType,
		Functor &	f
	)

inline

Given an OpenCV type depth and a reference to a functor, calls that functor with a single parameter: the corresponding type wrapped in boost::mpl::identity.

Returns: false if we couldn't recognize the OpenCV type and thus didn't call your functor.

Definition at line 54 of file OpenCVTypeDispatch.h.

Eigen::Matrix4d osvr::util::createProjectionMatrix	(	Rectd const &	bounds,
		double	near,
		double	far
	)

inline

Takes in points at the near clipping plane, as well as the near and far clipping planes. Result matrix maps [l, r] and [b, t] to [-1, 1], and [n, f] to [-1, 1] (should be configurable)

Resulting matrix operates on Eigen::Vector4d, which are row-matrices - transpose if you want it to work on column matrices.

Todo:: Look into using Eigen::Projective3d?

Definition at line 48 of file ProjectionMatrix.h.

template<typename System >

Eigen::Matrix4d osvr::util::createSymmetricProjectionMatrix	(	AngleGeneric< System >	hFov,
		AngleGeneric< System >	vFov,
		double	near,
		double	far
	)

inline

Note that because we delegate to the fully-generic projection matrix code, we'll end up computing two entries in the third column that will always be zero (and other computations may include an unnecessary addition/subtraction). But, only one place to introduce bugs.

Definition at line 81 of file ProjectionMatrixFromFOV.h.

template<typename Tag , typename T >

detail::CellGroup<T, Tag> osvr::util::cellGroup	(	const char *	groupHeader,
		T const &	data,
		Tag *	= `static_cast<Tag *>(nullptr)`
	)

inline

Helper function to create a cell group with a group header prefix and explicit (non-default) tag.

Definition at line 135 of file CSVCellGroup.h.

template<typename Tag , typename T >

detail::CellGroup<T, Tag> osvr::util::cellGroup	(	T const &	data,
		Tag *	= `static_cast<Tag *>(nullptr)`
	)

inline

Helper function to create a cell group with no group header prefix and explicit (non-default) tag - warning: column headers must be unique!

Definition at line 149 of file CSVCellGroup.h.

Eigen::Vector3d osvr::util::getEuler ( Eigen::Quaterniond const & q )

inline

Convert an Eigen quat to a Quatlib quat.

Definition at line 43 of file QuatToEuler.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation