Detailed Description

Core functions for MRPT.

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Library `mrpt-core`

[New in MRPT 2.0.0]

This library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-core-dev

See: Using MRPT from your CMake project

Nested exceptions

See: core_exceptions_example/test.cpp

#include <mrpt/core/exceptions.h>
#include <iostream>
void test_except_3rd_lvl()
{
    MRPT_START
    THROW_EXCEPTION("Aw!");
    MRPT_END
}
void test_except_2nd_lvl()
{
    MRPT_START
    test_except_3rd_lvl();
    MRPT_END
}
void test_except_toplevel()
{
    MRPT_START
    test_except_2nd_lvl();
    MRPT_END
}
int main()
{
    try
    {
        test_except_toplevel();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << mrpt::exception_to_str(e);
        return -1;
    }
}

Output:

==== MRPT exception ====
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:20: [void test_except_3rd_lvl()] Aw!
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:21: [void test_except_3rd_lvl()] Called from here.
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:28: [void test_except_2nd_lvl()] Called from here.
/home/jlblanco/code/mrpt/samples/core_exceptions_example/test.cpp:35: [void test_except_toplevel()] Called from here.

Collaboration diagram for [mrpt-core]:

Classes
class	mrpt::Clock
	Clock that is compatible with MRPT TTimeStamp representation. More...

class	mrpt::cpu::internal::CPU_analyzer
	Auxiliary class. More...

struct	mrpt::safe_ptr_basic< T >
	A wrapper class for pointers that can be safely copied with "=" operator without problems. More...

struct	mrpt::safe_ptr< T >
	A wrapper class for pointers that can be safely copied with "=" operator without problems. More...

struct	mrpt::non_copiable_ptr_basic< T >
	A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...

struct	mrpt::non_copiable_ptr< T >
	A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...

struct	mrpt::ignored_copy_ptr< T >
	A wrapper class for pointers whose copy operations from other objects of the same type are ignored, that is, doing "a=b;" has no effect neiter on "a" or "b". More...

struct	mrpt::copiable_NULL_ptr_basic< T >
	A wrapper class for pointers that, if copied with the "=" operator, should be set to nullptr in the copy. More...

struct	mrpt::copiable_NULL_ptr< T >
	A wrapper class for pointers that, if copied with the "=" operator, should be set to nullptr in the new copy. More...

Modules
	Funtions in #include <mrpt/core/bits_math.h>

	Templates to declare integers by byte count (in
	#include <mrpt/core/integer_select.h>)

	Round functions (in #include <mrpt/core/round.h>)

Typedefs
template<class T >
using	mrpt::optional_ref = std::optional< std::reference_wrapper< T > >
	Shorter name for std::optional<std::reference_wrapper<T>> More...

Enumerations
enum	mrpt::cpu::feature : unsigned int { mrpt::cpu::feature::MMX = 0, mrpt::cpu::feature::POPCNT, mrpt::cpu::feature::SSE, mrpt::cpu::feature::SSE2, mrpt::cpu::feature::SSE3, mrpt::cpu::feature::SSSE3, mrpt::cpu::feature::SSE4_1, mrpt::cpu::feature::SSE4_2, mrpt::cpu::feature::AVX, mrpt::cpu::feature::AVX2, mrpt::cpu::feature::FEATURE_COUNT }
	OS-portable set of CPU feature definitions, for usage in mrpt::cpu::supports. More...

Functions
template<class VECTOR_T >
void	mrpt::vector_strong_clear (VECTOR_T &v)
	Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory. More...

bool	mrpt::cpu::supports (feature f) noexcept
	Returns true if CPU (and OS) supports the given CPU feature, and that instruction set or feature was also enabled by the compiler flags used while building MRPT. More...

std::string	mrpt::cpu::features_as_string () noexcept
	Returns a string with detected features: "MMX:1 SSE2:0 etc.". More...

std::string	mrpt::exception_to_str (const std::exception &e)
	Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THROW_EXCEPTION,...) in between MRPT_START/MRPT_END macros, will contain function names and line numbers across the call stack at the original throw point. More...

std::string	mrpt::format_impl (const char *fmt,...) MRPT_printf_format_check(1
	A std::string version of C sprintf. More...

template<typename T >
std::string	mrpt::to_string (T v)
	Just like std::to_string(), but with an overloaded version for std::string arguments. More...

template<typename T >
T	mrpt::from_string (const std::string &s, const T &defValue=T{}, bool throw_on_error=true)
	Converts from string to any data type that supports reading (>>) from a text stream. More...

template<class T >
T	mrpt::get_env (const std::string &varname, const T &defValue=T())
	Reads an environment variable, with a default value if not present. More...

void	mrpt::reverseBytesInPlace (bool &v_in_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...

void	mrpt::reverseBytesInPlace (uint8_t &v_in_out)

void	mrpt::reverseBytesInPlace (int8_t &v_in_out)

void	mrpt::reverseBytesInPlace (uint16_t &v_in_out)

void	mrpt::reverseBytesInPlace (int16_t &v_in_out)

void	mrpt::reverseBytesInPlace (uint32_t &v_in_out)

void	mrpt::reverseBytesInPlace (int32_t &v_in_out)

void	mrpt::reverseBytesInPlace (uint64_t &v_in_out)

void	mrpt::reverseBytesInPlace (int64_t &v_in_out)

void	mrpt::reverseBytesInPlace (float &v_in_out)

void	mrpt::reverseBytesInPlace (double &v_in_out)

void	mrpt::reverseBytesInPlace (long double &v_in_out)

void	mrpt::reverseBytesInPlace (std::chrono::time_point< mrpt::Clock > &v_in_out)

template<class T >
void	mrpt::reverseBytes (const T &v_in, T &v_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...

template<class T >
T	mrpt::reverseBytes (const T &v_in)

template<class T >
T	mrpt::toNativeEndianness (const T &v_in)

template<typename enum_t , typename underlying_t = typename std::underlying_type<enum_t>::type>
void	mrpt::reverseBytesInPlace_enum (enum_t &v)

Typedef Documentation

◆ optional_ref

template<class T >

using mrpt::optional_ref = typedef std::optional<std::reference_wrapper<T> >

Shorter name for std::optional<std::reference_wrapper<T>>

Definition at line 20 of file optional_ref.h.

Enumeration Type Documentation

◆ feature

enum mrpt::cpu::feature : unsigned int

strong

OS-portable set of CPU feature definitions, for usage in mrpt::cpu::supports.

Enumerator
MMX
POPCNT
SSE
SSE2
SSE3
SSSE3
SSE4_1
SSE4_2
AVX
AVX2
FEATURE_COUNT

Definition at line 21 of file cpu.h.

Function Documentation

◆ exception_to_str()

std::string mrpt::exception_to_str ( const std::exception & e )

Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THROW_EXCEPTION,...) in between MRPT_START/MRPT_END macros, will contain function names and line numbers across the call stack at the original throw point.

See example of use in [mrpt-core] Uses C++11 throw_with_nested(), rethrow_if_nested().

Examples:: comms_http_client/test.cpp, core_exceptions_example/test.cpp, rtti_example1/test.cpp, serialization_json_example/test.cpp, and serialization_stl/test.cpp.

Definition at line 59 of file exceptions.cpp.

References mrpt::internal::impl_excep_to_str().

Referenced by catch(), mrpt::gui::CDisplayWindowGUI::drawContents(), mrpt::gui::MRPT2NanoguiGLCanvas::drawGL(), generic_icp_slam_test(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::obs::CRawlog::getActionObservationPair(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::obs::CRawlog::readActionObservationPair(), mrpt::gui::CGlCanvasBase::renderCanvas(), mrpt::obs::CRawlog::saveToRawLogFile(), mrpt::apps::RawlogGrabberApp::SensorThread(), mrpt::apps::ICP_SLAM_App_Live::SensorThread(), TEST(), mrpt::comms::CClientTCPSocket::~CClientTCPSocket(), mrpt::config::CConfigFile::~CConfigFile(), mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG(), mrpt::system::CObservable::~CObservable(), mrpt::opengl::CRenderizableShaderTexturedTriangles::~CRenderizableShaderTexturedTriangles(), mrpt::comms::CSerialPort::~CSerialPort(), mrpt::system::CTimeLoggerEntry::~CTimeLoggerEntry(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ features_as_string()

std::string mrpt::cpu::features_as_string ( )

noexcept

Returns a string with detected features: "MMX:1 SSE2:0 etc.".

Definition at line 117 of file cpu.cpp.

References mrpt::cpu::AVX, mrpt::cpu::AVX2, mrpt::format(), mrpt::cpu::internal::CPU_analyzer::Instance(), mrpt::cpu::MMX, mrpt::cpu::POPCNT, mrpt::cpu::SSE, mrpt::cpu::SSE2, mrpt::cpu::SSE3, mrpt::cpu::SSE4_1, mrpt::cpu::SSE4_2, and mrpt::cpu::SSSE3.

Referenced by TEST().

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◆ format_impl()

std::string mrpt::format_impl	(	const char *	fmt,
			...
	)

A std::string version of C sprintf.

You can call this to obtain a std::string using printf-like syntax.

Definition at line 16 of file format.cpp.

References mrpt::system::os::vsnprintf().

Referenced by mrpt::format().

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◆ from_string()

template<typename T >

T mrpt::from_string	(	const std::string &	s,
		const T &	defValue = `T{}`,
		bool	throw_on_error = `true`
	)

inline

Converts from string to any data type that supports reading (>>) from a text stream.

In case of error, the given default value is returned, or an exception raised.

Definition at line 32 of file from_string.h.

◆ get_env()

template<class T >

T mrpt::get_env	(	const std::string &	varname,
		const T &	defValue = `T()`
	)

inline

Reads an environment variable, with a default value if not present.

Definition at line 21 of file get_env.h.

◆ reverseBytes() [1/2]

template<class T >

void mrpt::reverseBytes	(	const T &	v_in,
		T &	v_out
	)

inline

Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)

Definition at line 39 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Referenced by get_binary_item(), and TEST().

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◆ reverseBytes() [2/2]

template<class T >

T mrpt::reverseBytes ( const T & v_in )

inline

Definition at line 46 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

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◆ reverseBytesInPlace() [1/13]

void mrpt::reverseBytesInPlace ( bool & v_in_out )

Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)

Definition at line 93 of file reverse_bytes.cpp.

Referenced by mrpt::obs::gnss::nv_oem6_header_t::fixEndianness(), mrpt::obs::gnss::nv_oem6_short_header_t::fixEndianness(), mrpt::obs::gnss::fixEndianness(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::fixEndianness(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), mrpt::reverseBytes(), mrpt::reverseBytesInPlace_enum(), mrpt::img::CCanvas::selectTextFont(), TEST(), and mrpt::toNativeEndianness().

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◆ reverseBytesInPlace() [2/13]

void mrpt::reverseBytesInPlace ( uint8_t & v_in_out )

Definition at line 98 of file reverse_bytes.cpp.

◆ reverseBytesInPlace() [3/13]

void mrpt::reverseBytesInPlace ( int8_t & v_in_out )

Definition at line 102 of file reverse_bytes.cpp.

◆ reverseBytesInPlace() [4/13]

void mrpt::reverseBytesInPlace ( uint16_t & v_in_out )

Definition at line 107 of file reverse_bytes.cpp.

References reverseBytesInPlace_2b().

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◆ reverseBytesInPlace() [5/13]

void mrpt::reverseBytesInPlace ( int16_t & v_in_out )

Definition at line 112 of file reverse_bytes.cpp.

References reverseBytesInPlace_2b().

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◆ reverseBytesInPlace() [6/13]

void mrpt::reverseBytesInPlace ( uint32_t & v_in_out )

Definition at line 117 of file reverse_bytes.cpp.

References reverseBytesInPlace_4b().

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◆ reverseBytesInPlace() [7/13]

void mrpt::reverseBytesInPlace ( int32_t & v_in_out )

Definition at line 122 of file reverse_bytes.cpp.

References reverseBytesInPlace_4b().

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◆ reverseBytesInPlace() [8/13]

void mrpt::reverseBytesInPlace ( uint64_t & v_in_out )

Definition at line 127 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b().

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◆ reverseBytesInPlace() [9/13]

void mrpt::reverseBytesInPlace ( int64_t & v_in_out )

Definition at line 132 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b().

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◆ reverseBytesInPlace() [10/13]

void mrpt::reverseBytesInPlace ( float & v_in_out )

Definition at line 137 of file reverse_bytes.cpp.

References reverseBytesInPlace_4b().

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◆ reverseBytesInPlace() [11/13]

void mrpt::reverseBytesInPlace ( double & v_in_out )

Definition at line 142 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b().

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◆ reverseBytesInPlace() [12/13]

void mrpt::reverseBytesInPlace ( long double & v_in_out )

◆ reverseBytesInPlace() [13/13]

void mrpt::reverseBytesInPlace ( std::chrono::time_point< mrpt::Clock > & v_in_out )

Definition at line 147 of file reverse_bytes.cpp.

References reverseBytesInPlace_8b(), and val.

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◆ reverseBytesInPlace_enum()

template<typename enum_t , typename underlying_t = typename std::underlying_type<enum_t>::type>

void mrpt::reverseBytesInPlace_enum ( enum_t & v )

inline

Definition at line 68 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Referenced by mrpt::obs::gnss::fixEndianness().

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◆ supports()

bool mrpt::cpu::supports ( feature f )

inlinenoexcept

Returns true if CPU (and OS) supports the given CPU feature, and that instruction set or feature was also enabled by the compiler flags used while building MRPT.

Definition at line 77 of file cpu.h.

References mrpt::cpu::internal::CPU_analyzer::Instance().

Referenced by my_img_to_grayscale(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::round(), mrpt::round_long(), mrpt::img::CImage::scaleHalf(), and TEST().

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◆ to_string()

template<typename T >

std::string mrpt::to_string ( T v )

Just like std::to_string(), but with an overloaded version for std::string arguments.

Definition at line 36 of file format.h.

References mrpt::to_string().

Referenced by mrpt::internal::asrt_fail(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::internal::exception_line_msg(), mrpt::vision::CFeatureLines::extractLines(), mrpt::internal::impl_excep_to_str(), mrpt::comms::net::Ping(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::saveAsDot(), mrpt::system::CTimeLogger::saveToCSVFile(), mrpt::system::CTimeLogger::saveToMFile(), mrpt::io::CPipeBaseEndPoint::serialize(), TEST(), mrpt::typemeta::TEnumType< ENUMTYPE >::value2name(), and mrpt::config::CConfigFileBase::write().

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◆ toNativeEndianness()

template<class T >

T mrpt::toNativeEndianness ( const T & v_in )

inline

Definition at line 54 of file reverse_bytes.h.

References mrpt::reverseBytesInPlace().

Referenced by mrpt::obs::CObservationVelodyneScan::laser_return_t::distance(), mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp(), mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket::gps_timestamp(), mrpt::obs::CObservationVelodyneScan::raw_block_t::header(), mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation(), and mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket::unused2().

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◆ vector_strong_clear()

template<class VECTOR_T >

void mrpt::vector_strong_clear ( VECTOR_T & v )

inline

Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory.

Definition at line 18 of file bits_mem.h.

Referenced by mrpt::maps::CSimplePointsMap::internal_clear(), mrpt::maps::CWeightedPointsMap::internal_clear(), mrpt::maps::CPointsMapXYZI::internal_clear(), mrpt::maps::CColouredPointsMap::internal_clear(), mrpt::obs::CObservation3DRangeScan::points3D_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors(), and mrpt::obs::CObservation3DRangeScan::unload().

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Detailed Description

Library `mrpt-core`

Nested exceptions

Classes

Modules

Typedefs

Enumerations

Functions

Typedef Documentation

◆ optional_ref

Enumeration Type Documentation

◆ feature

Function Documentation

◆ exception_to_str()

◆ features_as_string()

◆ format_impl()

◆ from_string()

◆ get_env()

◆ reverseBytes() [1/2]

◆ reverseBytes() [2/2]

◆ reverseBytesInPlace() [1/13]

◆ reverseBytesInPlace() [2/13]

◆ reverseBytesInPlace() [3/13]

◆ reverseBytesInPlace() [4/13]

◆ reverseBytesInPlace() [5/13]

◆ reverseBytesInPlace() [6/13]

◆ reverseBytesInPlace() [7/13]

◆ reverseBytesInPlace() [8/13]

◆ reverseBytesInPlace() [9/13]

◆ reverseBytesInPlace() [10/13]

◆ reverseBytesInPlace() [11/13]

◆ reverseBytesInPlace() [12/13]

◆ reverseBytesInPlace() [13/13]

◆ reverseBytesInPlace_enum()

◆ supports()

◆ to_string()

◆ toNativeEndianness()

◆ vector_strong_clear()