From 14340545540dac6a1057559f4fa4e2e501be166d Mon Sep 17 00:00:00 2001 From: Andrew Jong Date: Thu, 10 Sep 2026 23:14:37 -0400 Subject: [PATCH] MIGHTY is the default local planner; DROAN extracted to the asm_droan module (0.21.0-dev.11) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Default stack swap: full_default, lite_default and lite_offload_global:onboard include the MIGHTY module launch (asm_mighty v0.1.4: planner + acl-mapping voxel world model + NavigateTask bridge) in place of droan_gl and pin it in their modules.repos. The six DROAN packages (droan_gl, droan_local_planner, disparity_expansion, disparity_graph, disparity_graph_cost_map, cost_map_interface) leave trunk for castacks/asm_droan v0.1.0 (history preserved with git filter-repo). Dockerfile.robot swaps the droan_gl GL link deps for MIGHTY's nlohmann-json3-dev header dep, so the default stack runs on the base image with no composed module layer. Stacks: new full_droan = the previous default (GPU DROAN) topology pinning asm_droan, inheriting the old full_default wiring baseline; full_droan_cpu and full_macvo pin asm_droan; full_mighty folded into full_default. lite_default's stale wiring baseline dropped (bootstrap path, like full_default's new MIGHTY graph). airstack up now reconciles the selected stack's modules.repos pins before launch (add + sync missing pins, keep and name differing local pins, module lock --build uncomposed layers unless AIRSTACK_NO_IMAGE_BUILD=1; dry-run/config-only report only; AIRSTACK_NO_STACK_MODULE_SYNC=1 opts out) — a module-pinned default stack must work out of the box. Contract tests pin the dry-run report. Docs: local-layer pages (planner table, world-model pairing), stacks and autonomy-modes tables, walkthrough, module/stack guides, skills, mkdocs nav, registry fixture + regenerated catalog (droan page, full_droan stack), release notes. Co-Authored-By: Claude Fable 5.1 --- .agents/skills/add-ros2-package/SKILL.md | 6 +- .../assets/package_template/package.xml | 2 +- .agents/skills/create-stack/SKILL.md | 2 +- .agents/skills/debug-module/SKILL.md | 11 +- .agents/skills/update-documentation/SKILL.md | 10 +- .agents/skills/use-airstack-cli/SKILL.md | 7 +- .agents/skills/write-launch-file/SKILL.md | 4 +- .../write-mkdocs-documentation/SKILL.md | 6 +- .env | 2 +- .vscode/c_cpp_properties.json | 6 - AGENTS.md | 6 +- airstack.sh | 120 + .../ros_packages/msgs/airstack_msgs/README.md | 4 +- docs/development/advanced/ai_agent_guide.md | 4 +- docs/development/creating_a_stack.md | 8 + .../development/intermediate/documentation.md | 2 +- docs/development/modules.md | 9 +- docs/development/stacks.md | 26 +- .../development/working_with_coding_agents.md | 2 +- docs/getting_started/modular_airstack.md | 7 +- docs/modules/droan.md | 58 + docs/modules/index.md | 11 +- docs/modules/mighty.md | 16 +- docs/release_notes/index.md | 32 +- docs/robot/autonomy/adding_a_controller.md | 2 +- .../adding_a_world_model_and_planner.md | 16 +- docs/robot/autonomy/integration_checklist.md | 2 +- docs/robot/autonomy/interface_conventions.md | 4 +- docs/robot/autonomy/local/index.md | 8 +- docs/robot/autonomy/local/planning/index.md | 17 +- .../robot/autonomy/local/world_model/index.md | 9 +- .../perception/adding_a_state_estimator.md | 2 +- docs/robot/autonomy/system_architecture.md | 19 +- docs/robot/autonomy/tasks.md | 6 +- docs/robot/autonomy_modes.md | 8 +- docs/simulation/index.md | 2 +- docs/simulation/ms-airsim/index.md | 6 +- .../action_relay/action_relay/relay_node.py | 2 +- mkdocs.yml | 8 +- robot/docker/Dockerfile.robot | 18 +- .../src/global/planners/random_walk/README.md | 2 +- .../local/planners/droan_gl/CMakeLists.txt | 57 - .../src/local/planners/droan_gl/README.md | 164 - .../local/planners/droan_gl/config/cone.dae | 297 -- .../planners/droan_gl/config/droan_gl.yaml | 28 - .../planners/droan_gl/config/half_sphere.dae | 866 ---- .../droan_gl/config/half_sphere_low_res.dae | 327 -- .../planners/droan_gl/images/expansion.png | Bin 400573 -> 0 bytes .../planners/droan_gl/images/trajectories.png | Bin 2018713 -> 0 bytes .../droan_gl/include/KHR/khrplatform.h | 310 -- .../include/droan_gl/gl_interface.hpp | 253 -- .../droan_gl/include/droan_gl/global_plan.hpp | 63 - .../include/droan_gl/rewind_monitor.hpp | 92 - .../planners/droan_gl/include/glad/glad.h | 3695 ----------------- .../droan_gl/launch/droan_gl.launch.xml | 58 - .../src/local/planners/droan_gl/package.xml | 50 - .../local/planners/droan_gl/scripts/angle.py | 26 - .../droan_gl/scripts/scale_camera_info.py | 65 - .../local/planners/droan_gl/scripts/sphere.py | 185 - .../planners/droan_gl/scripts/sphere2.py | 218 - .../planners/droan_gl/scripts/sphere_point.py | 148 - .../planners/droan_gl/shaders/collision.cs | 96 - .../droan_gl/shaders/disparity_expand.cs | 39 - .../shaders/disparity_expand_horizontal.cs | 90 - .../shaders/disparity_expand_vertical.cs | 98 - .../planners/droan_gl/shaders/expansion.frag | 40 - .../planners/droan_gl/shaders/expansion.vert | 42 - .../droan_gl/shaders/traj_collision.cs | 125 - .../planners/droan_gl/shaders/trajectory.cs | 69 - .../planners/droan_gl/src/droan_gl_node.cpp | 563 --- .../planners/droan_gl/src/gl_interface.cpp | 715 ---- .../planners/droan_gl/src/glad/src/glad.c | 1914 --------- .../planners/droan_gl/src/global_plan.cpp | 174 - .../planners/droan_gl/src/rewind_monitor.cpp | 242 -- .../droan_local_planner/CMakeLists.txt | 78 - .../planners/droan_local_planner/README.md | 168 - .../droan_local_planner/config/droan.yaml | 63 - .../droan_local_planner.hpp | 1111 ----- .../launch/droan_local_planner.launch.xml | 55 - .../planners/droan_local_planner/package.xml | 31 - .../src/droan_local_planner.cpp | 35 - .../planners/trajectory_library/README.md | 10 +- .../cost_map_interface/CMakeLists.txt | 80 - .../cost_map_interface/cost_map_interface.hpp | 71 - .../cost_map_interface/package.xml | 32 - .../src/cost_map_interface.cpp | 23 - .../disparity_expansion/CMakeLists.txt | 272 -- .../world_models/disparity_expansion/LICENSE | 15 - .../disparity_expansion/README.md | 18 - .../config/disparity_expansion_params.yaml | 14 - .../disparity_expansion.hpp | 109 - .../launch/disparity_expansion.launch.xml | 43 - .../disparity_expansion/package.xml | 78 - .../src/disparity_expansion.cpp | 717 ---- .../disparity_expansion/src/disparity_pcd.cpp | 309 -- .../disparity_graph/CMakeLists.txt | 92 - .../world_models/disparity_graph/README.md | 9 - .../disparity_graph/disparity_graph.hpp | 580 --- .../world_models/disparity_graph/package.xml | 30 - .../disparity_graph/src/disparity_graph.cpp | 26 - .../disparity_graph_cost_map/CMakeLists.txt | 109 - .../disparity_graph_cost_map/README.md | 7 - .../disparity_graph_cost_map_plugin.xml | 6 - .../disparity_graph_cost_map.hpp | 115 - .../disparity_graph_cost_map/package.xml | 38 - .../src/disparity_graph_cost_map.cpp | 304 -- stacks/full_default/README.md | 73 +- stacks/full_default/docker-compose.yaml | 19 +- stacks/full_default/launch/stack.launch.xml | 48 +- stacks/full_default/modules.repos | 23 +- stacks/full_droan/README.md | 60 + stacks/full_droan/docker-compose.yaml | 12 + .../launch/stack.launch.xml | 55 +- stacks/full_droan/modules.repos | 21 + stacks/{full_default => full_droan}/wiring.md | 2 +- stacks/full_droan_cpu/README.md | 26 +- stacks/full_droan_cpu/docker-compose.yaml | 18 +- stacks/full_droan_cpu/launch/stack.launch.xml | 4 +- stacks/full_droan_cpu/modules.repos | 21 +- stacks/full_macvo/README.md | 50 +- stacks/full_macvo/launch/stack.launch.xml | 11 +- stacks/full_macvo/modules.repos | 11 +- stacks/full_mighty/README.md | 53 - stacks/full_mighty/docker-compose.yaml | 11 - stacks/full_mighty/modules.repos | 27 - stacks/lite_default/README.md | 22 +- stacks/lite_default/launch/stack.launch.xml | 12 +- stacks/lite_default/modules.repos | 15 +- stacks/lite_default/wiring.md | 466 --- stacks/lite_offload_global/README.md | 5 +- stacks/lite_offload_global/bridge.yaml | 4 +- .../launch/onboard.launch.xml | 14 +- stacks/lite_offload_global/modules.repos | 15 +- tests/README.md | 7 +- tests/conftest.py | 5 +- .../fixtures/modules_index/modules/droan.yaml | 26 + .../modules_index/modules/mighty.yaml | 24 +- .../modules_index/stacks/full_default.yaml | 17 +- .../modules_index/stacks/full_droan.yaml | 16 + .../modules_index/stacks/full_droan_cpu.yaml | 11 +- .../modules_index/stacks/full_macvo.yaml | 14 +- .../modules_index/stacks/full_mighty.yaml | 17 - tests/meta/test_launch_intent_contract.py | 42 + tests/system/test_waypoint_flight.py | 8 +- 144 files changed, 875 insertions(+), 16659 deletions(-) create mode 100644 docs/modules/droan.md delete mode 100644 robot/ros_ws/src/local/planners/droan_gl/CMakeLists.txt delete mode 100644 robot/ros_ws/src/local/planners/droan_gl/README.md 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mode 100644 stacks/full_droan/modules.repos rename stacks/{full_default => full_droan}/wiring.md (99%) delete mode 100644 stacks/full_mighty/README.md delete mode 100644 stacks/full_mighty/docker-compose.yaml delete mode 100644 stacks/full_mighty/modules.repos delete mode 100644 stacks/lite_default/wiring.md create mode 100644 tests/meta/fixtures/modules_index/modules/droan.yaml create mode 100644 tests/meta/fixtures/modules_index/stacks/full_droan.yaml delete mode 100644 tests/meta/fixtures/modules_index/stacks/full_mighty.yaml diff --git a/.agents/skills/add-ros2-package/SKILL.md b/.agents/skills/add-ros2-package/SKILL.md index a457d84e4..8e7733c1a 100644 --- a/.agents/skills/add-ros2-package/SKILL.md +++ b/.agents/skills/add-ros2-package/SKILL.md @@ -115,7 +115,7 @@ Define package metadata and dependencies: ``` -**Reference:** `robot/ros_ws/src/local/planners/droan_local_planner/package.xml` +**Reference:** `robot/ros_ws/src/local/planners/takeoff_landing_planner/package.xml` ### 4. Create CMakeLists.txt (for C++) @@ -183,7 +183,7 @@ endif() ament_package() ``` -**Reference:** `robot/ros_ws/src/local/planners/droan_local_planner/CMakeLists.txt` +**Reference:** `robot/ros_ws/src/local/planners/takeoff_landing_planner/CMakeLists.txt` ### 5. Create setup.py (for Python) @@ -514,7 +514,7 @@ After creating the package: - [Using Parameters](https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.html) - **AirStack Examples:** - - Reference planner: `robot/ros_ws/src/local/planners/droan_local_planner` + - Reference planner (task server): `robot/ros_ws/src/local/planners/takeoff_landing_planner`; module-shipped local planners: asm_mighty `mighty_bridge/`, asm_droan `droan_local_planner/` - Reference controller: `robot/ros_ws/src/local/controls/trajectory_controller` - Package template: `assets/package_template/` diff --git a/.agents/skills/add-ros2-package/assets/package_template/package.xml b/.agents/skills/add-ros2-package/assets/package_template/package.xml index b90b400ac..5cb35710e 100644 --- a/.agents/skills/add-ros2-package/assets/package_template/package.xml +++ b/.agents/skills/add-ros2-package/assets/package_template/package.xml @@ -65,7 +65,7 @@ - + diff --git a/.agents/skills/create-stack/SKILL.md b/.agents/skills/create-stack/SKILL.md index b3e3ce84d..7d7eecd80 100644 --- a/.agents/skills/create-stack/SKILL.md +++ b/.agents/skills/create-stack/SKILL.md @@ -45,7 +45,7 @@ airstack stack new full_default my_experiment # refuses overwrite ``` Pick the closest starting point: `full_default` (everything onboard), -`lite_default` (no global/logging), `full_droan_cpu`, `full_macvo`. +`lite_default` (no global/logging), `full_droan`, `full_droan_cpu`, `full_macvo`. `stack new` deliberately does **not** copy `wiring.md` — that file is the *source* stack's observed graph and would lie about yours. diff --git a/.agents/skills/debug-module/SKILL.md b/.agents/skills/debug-module/SKILL.md index 468cb6106..bd6a056b1 100644 --- a/.agents/skills/debug-module/SKILL.md +++ b/.agents/skills/debug-module/SKILL.md @@ -297,23 +297,24 @@ Study a working similar module: ```bash # Find reference implementation -# Example: if debugging a planner, study droan_local_planner +# Example: if debugging a planner, study the default MIGHTY bridge +# (modules/asm_mighty/mighty_bridge after `airstack up` synced it) # Compare: # 1. Package structure -ls -la robot/ros_ws/src/local/planners/droan_local_planner/ +ls -la modules/asm_mighty/mighty_bridge/ ls -la robot/ros_ws/src/local/planners/your_planner/ # 2. Topic structure -docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot/droan/droan_planner" +docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot/mighty/mighty_bridge" docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot/your_planner/your_node" # 3. Message timing -docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot/droan/output" +docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot/trajectory_controller/trajectory_override" docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot/your_planner/output" # 4. Data ranges -docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot/droan/output --once" +docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot/trajectory_controller/trajectory_override --once" docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot/your_planner/output --once" ``` diff --git a/.agents/skills/update-documentation/SKILL.md b/.agents/skills/update-documentation/SKILL.md index 4370112c6..c083c495d 100644 --- a/.agents/skills/update-documentation/SKILL.md +++ b/.agents/skills/update-documentation/SKILL.md @@ -356,7 +356,7 @@ nav: - Local: # Existing modules - Trajectory Library: robot/ros_ws/src/local/planners/trajectory_library/README.md - - DROAN Local Planner: robot/ros_ws/src/local/planners/droan_local_planner/README.md + - Takeoff Landing Planner: robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md # Add your module HERE - Your Module Name: - robot/ros_ws/src/local/planners/your_package/README.md @@ -393,8 +393,8 @@ trajectory generation based on local sensor observations. ## Available Modules -### DROAN Local Planner -Disparity-space representation for obstacle avoidance. See [DROAN Local Planner](../../../robot/ros_ws/src/local/planners/droan_local_planner/README.md). +### MIGHTY (default, module) +Map-based Hermite-spline local planner with its acl-mapping voxel world model. See the [mighty module page](../../../docs/modules/mighty.md). ### Your Module Name Brief one-sentence description of your module. @@ -465,7 +465,7 @@ graph TB GlobalPlanning[Global Planning] -->|Global Plan| LocalPlanning subgraph "Local Planning Layer" - LocalPlanning --> DROAN[DROAN Planner] + LocalPlanning --> MIGHTY[MIGHTY Planner] LocalPlanning --> YourModule[Your Module] LocalPlanning --> TakeoffLanding[Takeoff/Landing] end @@ -739,7 +739,7 @@ feat: Add YourModule local planner - **AirStack:** - Documentation template: `../add-ros2-package/assets/package_template/README.md` - - Example README: `robot/ros_ws/src/local/planners/droan_local_planner/README.md` + - Example README: `robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md` - mkdocs.yml: Repository root - **Related Skills:** diff --git a/.agents/skills/use-airstack-cli/SKILL.md b/.agents/skills/use-airstack-cli/SKILL.md index a13a54f12..1147a112f 100644 --- a/.agents/skills/use-airstack-cli/SKILL.md +++ b/.agents/skills/use-airstack-cli/SKILL.md @@ -184,8 +184,11 @@ airstack stack diff [--json] # compare generated wiring graphs (nodes/ed airstack up --stack [:] # run one ``` -Reference stacks today: `full_default` (the no-stack default), `full_droan_cpu`, -`full_macvo`, `lite_default`, `lite_offload_global` (split: `:onboard`/`:offboard`). +Reference stacks today: `full_default` (the no-stack default; MIGHTY planner via +the `asm_mighty` module), `full_droan`, `full_droan_cpu`, `full_macvo` +(`asm_droan` module), `lite_default`, `lite_offload_global` (split: +`:onboard`/`:offboard`). `airstack up` reconciles the selected stack's +`modules.repos` pins (add + sync + `lock --build`) before launching. ### Fleets diff --git a/.agents/skills/write-launch-file/SKILL.md b/.agents/skills/write-launch-file/SKILL.md index 7fd6bbfea..fe664fabc 100644 --- a/.agents/skills/write-launch-file/SKILL.md +++ b/.agents/skills/write-launch-file/SKILL.md @@ -100,7 +100,7 @@ A stack folder (`stacks//`) is the unit of topology — see [docs/developm 2. **One `` per module.** Pass the module's declared topic args to wire it: ```xml - + @@ -191,7 +191,7 @@ If `ros2 node info` shows a node subscribing to `/odometry` instead of `//modules.repos pins: +# - absent from the checkout-root modules.repos → added at the stack's pin +# (then one `airstack module sync`); +# - present at a DIFFERENT pin → left alone and named (an explicit local +# deviation wins; every deviation is reported, never silently overridden); +# - present at the same pin but not checked out under modules/ → synced. +# Then, when the layer plan has docker-relevant steps and the generated +# compose carries no image override, the dependency layers are composed +# (`airstack module lock --build`) unless AIRSTACK_NO_IMAGE_BUILD=1 forbids +# implicit builds. --dry-run / --config-only only REPORT what would happen — +# they never touch modules.repos, clone, or build. Opt out entirely with +# AIRSTACK_NO_STACK_MODULE_SYNC=1. +function reconcile_stack_modules { + [[ "${AIRSTACK_NO_STACK_MODULE_SYNC:-}" == "1" ]] && return 0 + local stack_dir_container stack_name stack_repos + stack_dir_container=$(resolve_launch_var AIRSTACK_STACK_DIR "$@") + stack_name="${stack_dir_container##*/}" + [[ -z "$stack_name" ]] && return 0 + stack_repos="$PROJECT_ROOT/stacks/$stack_name/modules.repos" + [[ -f "$stack_repos" ]] || return 0 + command -v python3 >/dev/null 2>&1 || return 0 + + # One line per pinned git module: \t\t\t + # status ∈ add | resync | deviates: | ok + local plan + plan=$(STACK_REPOS="$stack_repos" ROOT_REPOS="$PROJECT_ROOT/modules.repos" \ + MODULES_DIR="$PROJECT_ROOT/modules" python3 - <<'PY' +import os, yaml +def load(path): + if not os.path.isfile(path): + return {} + with open(path, encoding="utf-8") as f: + return yaml.safe_load(f) or {} +stack = (load(os.environ["STACK_REPOS"])).get("repositories") or {} +root_doc = load(os.environ["ROOT_REPOS"]) +root = root_doc.get("repositories") or {} +# a local-path module of the same name is an explicit deviation too +local = {e.get("name"): e.get("path", "") for e in (root_doc.get("x-local-modules") or []) if isinstance(e, dict)} +mods = os.environ["MODULES_DIR"] +for name, entry in sorted(stack.items()): + if not isinstance(entry, dict) or entry.get("type", "git") != "git": + continue + url, ver = entry.get("url", ""), str(entry.get("version", "")) + checkout = os.path.join(mods, name) + if name in local: + status = "deviates:local path " + local[name] + elif name not in root: + status = "add" + elif str(root[name].get("version", "")) != ver: + status = "deviates:" + str(root[name].get("version", "")) + elif not (os.path.isdir(os.path.join(checkout, ".git")) or os.path.islink(checkout)): + status = "resync" + else: + status = "ok" + print(f"{name}\t{url}\t{ver}\t{status}") +PY +) || return 0 + [[ -z "$plan" ]] && return 0 + + local report_only=0 + [[ "$AIRSTACK_DRY_RUN" == "1" || "$AIRSTACK_CONFIG_ONLY" == "1" ]] && report_only=1 + + local need_sync=0 name url ver status + while IFS=$'\t' read -r name url ver status; do + [[ -z "$name" ]] && continue + case "$status" in + add) + if (( report_only )); then + log_info "stack $stack_name pins module $name @ $ver — would add + sync (skipped: dry-run)" + else + log_info "stack $stack_name pins module $name @ $ver — adding to modules.repos" + MODULE_ENTRY_NAME="$name" MODULE_ENTRY_KIND="git" \ + MODULE_ENTRY_URL="$url" MODULE_ENTRY_VERSION="$ver" _module_repos_upsert || return 1 + fi + need_sync=1 ;; + resync) + (( report_only )) || log_info "stack $stack_name pins module $name @ $ver — checkout missing, syncing" + need_sync=1 ;; + deviates:*) + log_warn "stack $stack_name pins module $name @ $ver but this checkout has it @ ${status#deviates:} — keeping the checkout's pin (named deviation)" ;; + esac + done <<< "$plan" + + if (( need_sync )) && (( ! report_only )); then + cmd_module_sync || return 1 + fi + + # Dependency layers: plan has steps but nothing composed → build (implicit + # image build, same policy as compose's own missing-image build). + local plan_json="$PROJECT_ROOT/.airstack/generated/layer_plan.json" + local gen_compose="$PROJECT_ROOT/.airstack/generated/docker-compose.modules.yaml" + if [[ -f "$plan_json" ]] && ! grep -q "image:" "$gen_compose" 2>/dev/null && \ + LAYER_PLAN_JSON="$plan_json" python3 -c ' +import json, os, sys +plan = json.load(open(os.environ["LAYER_PLAN_JSON"])) +sys.exit(0 if any(h.get("steps") for h in plan.values()) else 1)' 2>/dev/null; then + if (( report_only )); then + log_info "module dependency layers are planned but not composed — would run: airstack module lock --build (skipped: dry-run)" + elif [[ "${AIRSTACK_NO_IMAGE_BUILD:-}" == "1" ]]; then + log_warn "module dependency layers are planned but not composed and AIRSTACK_NO_IMAGE_BUILD=1 — containers will run the BASE image. Run: airstack module lock --build" + else + log_info "Composing module dependency layers (airstack module lock --build)..." + cmd_module_lock --build || return 1 + fi + fi + return 0 +} + function cmd_up { # Airstack launch-intent flags (consumed before compose sees the args) local rest_args=() @@ -1701,6 +1814,13 @@ function cmd_up { if [[ "$AIRSTACK_CONFIG_ONLY" != "1" ]]; then check_docker fi + # Stack module pins → checkout (add/sync/compose as needed; reports only + # under --dry-run / --config-only). Runs before the module overlay check + # below so a freshly synced module's compose override is picked up. + if ! reconcile_stack_modules "${rest_args[@]}"; then + log_error "Could not reconcile the selected stack's module pins — not starting services. (AIRSTACK_NO_STACK_MODULE_SYNC=1 to skip.)" + exit 1 + fi local global_args=() local subcmd_args=() diff --git a/common/ros_packages/msgs/airstack_msgs/README.md b/common/ros_packages/msgs/airstack_msgs/README.md index c42a8ba74..dbd36bb99 100644 --- a/common/ros_packages/msgs/airstack_msgs/README.md +++ b/common/ros_packages/msgs/airstack_msgs/README.md @@ -27,7 +27,7 @@ A number of definitions in this package have **no consumer in the AirStack trunk ### Odometry -Extended odometry: `nav_msgs/Odometry` minus the covariances, plus feed-forward acceleration and jerk. This is the type the trajectory controller publishes on `trajectory_controller/tracking_point` and `trajectory_controller/look_ahead` (note: **airstack_msgs**, not nav_msgs — a classic type mismatch when wiring new modules; see spec §5). Consumers include the PID controller, both DROAN planners, the takeoff/landing planner, the random-walk global planner, and the drone safety monitor. +Extended odometry: `nav_msgs/Odometry` minus the covariances, plus feed-forward acceleration and jerk. This is the type the trajectory controller publishes on `trajectory_controller/tracking_point` and `trajectory_controller/look_ahead` (note: **airstack_msgs**, not nav_msgs — a classic type mismatch when wiring new modules; see spec §5). Consumers include the PID controller, the local planners (DROAN's two planners; MIGHTY's bridge consumes odometry instead), the takeoff/landing planner, the random-walk global planner, and the drone safety monitor. | Field | Type | Meaning | |---|---|---| @@ -40,7 +40,7 @@ Extended odometry: `nav_msgs/Odometry` minus the covariances, plus feed-forward ### TrajectoryXYZVYaw and WaypointXYZVYaw -The trajectory command interchange (spec §5, **onboard-only**): planners send these to the trajectory controller on `trajectory_controller/trajectory_override` (replaces the current trajectory) and `trajectory_controller/trajectory_segment_to_add` (appends). Producers in the trunk: `droan_local_planner`, `droan_gl`, `takeoff_landing_planner`, and the `fixed_trajectory_task` server; the [trajectory_library](../../../../robot/ros_ws/src/local/planners/trajectory_library/README.md) package converts between this type and its internal `Trajectory` class. +The trajectory command interchange (spec §5, **onboard-only**): planners send these to the trajectory controller on `trajectory_controller/trajectory_override` (replaces the current trajectory) and `trajectory_controller/trajectory_segment_to_add` (appends). Producers: the local planner modules (`mighty_bridge` publishes `trajectory_override`; `droan_local_planner` and `droan_gl` publish `trajectory_segment_to_add`), and in the trunk `takeoff_landing_planner` and the `fixed_trajectory_task` server; the [trajectory_library](../../../../robot/ros_ws/src/local/planners/trajectory_library/README.md) package converts between this type and its internal `Trajectory` class. `TrajectoryXYZVYaw`: diff --git a/docs/development/advanced/ai_agent_guide.md b/docs/development/advanced/ai_agent_guide.md index 2d33d5593..fdbdf218f 100644 --- a/docs/development/advanced/ai_agent_guide.md +++ b/docs/development/advanced/ai_agent_guide.md @@ -122,9 +122,9 @@ Study these before implementing similar modules: | Module Type | Reference | Location | |------------|-----------|----------| -| Local Planner | DROAN | `robot/ros_ws/src/local/planners/droan_local_planner` | +| Local Planner | MIGHTY bridge (module) | [asm_mighty](https://github.com/castacks/asm_mighty) `mighty_bridge/`; DROAN: [asm_droan](https://github.com/castacks/asm_droan) `droan_local_planner/` | | Controller | Trajectory Controller | `robot/ros_ws/src/local/controls/trajectory_controller` | -| World Model | Disparity Expansion | `robot/ros_ws/src/local/world_models/disparity_expansion` | +| Local World Model | Disparity Expansion (module) | [asm_droan](https://github.com/castacks/asm_droan) `disparity_expansion/` | | Global Planner | Random Walk | `robot/ros_ws/src/global/planners/random_walk` | | Behavior / Safety | Drone Safety Monitor | `robot/ros_ws/src/behavior/drone_safety_monitor` | diff --git a/docs/development/creating_a_stack.md b/docs/development/creating_a_stack.md index dd8a5ee0a..edf9462ca 100644 --- a/docs/development/creating_a_stack.md +++ b/docs/development/creating_a_stack.md @@ -26,6 +26,14 @@ airstack stack new full_default my_experiment # airstack stack new ``` +(That is `stacks/full_macvo`: the `asm_droan` module's GPU DROAN planner +fed by MAC-VO's disparity instead of the canonical `stereo_image_proc` +topic. A stack that keeps the default MIGHTY planner includes +`mighty_module.launch.xml` bare — no args — as `full_default` does.) + +```xml +``` + Rules the unit lints enforce: every declared `` needs a `description=`; never include `robot.launch.xml` (it is the dispatcher that includes *you* — infinite recursion); remaps are legal only under `stacks/*/launch/`. Update `README.md` too — the layout contract rejects READMEs under 200 characters. Canonical topic names/types are in the [Interface Conventions Spec](../robot/autonomy/interface_conventions.md); authoring details in the [create-stack skill](https://github.com/castacks/AirStack/blob/develop/.agents/skills/create-stack/SKILL.md). **Verify:** `airstack test -m unit -v` passes the layout contract and single-locus lint. diff --git a/docs/development/intermediate/documentation.md b/docs/development/intermediate/documentation.md index fecc4da50..ac6ce92b4 100644 --- a/docs/development/intermediate/documentation.md +++ b/docs/development/intermediate/documentation.md @@ -58,7 +58,7 @@ graph LR ## Dependencies -- `disparity_expansion` - Obstacle map +- `my_world_model` - Obstacle map - `trajectory_controller` - Trajectory execution ## Topics diff --git a/docs/development/modules.md b/docs/development/modules.md index 5e33fe95c..48acd919b 100644 --- a/docs/development/modules.md +++ b/docs/development/modules.md @@ -18,7 +18,7 @@ should follow the `create-module` skill (`.agents/skills/create-module`). | Path | What it is | Committed? | |------|------------|------------| -| `modules.repos` | Which modules this checkout uses: a [vcs2l](https://github.com/ros-infrastructure/vcs2l)-format `repositories:` list (pinned) plus an `x-local-modules:` list for local paths (vcs tools ignore that key) | gitignored in trunk (a *stack* commits its own copy — see [Stacks](stacks.md)) | +| `modules.repos` | Which modules this checkout uses: a [vcs2l](https://github.com/ros-infrastructure/vcs2l)-format `repositories:` list (pinned) plus an `x-local-modules:` list for local paths (vcs tools ignore that key) | gitignored in trunk (a *stack* commits its own copy — see [Stacks](stacks.md); `airstack up` adds the selected stack's pins here when they are missing) | | `modules//` | The synced checkouts (git clones, or symlinks to local paths) | gitignored | | `robot/ros_ws/src/modules/` | Overlay symlink so colcon builds the module's ROS packages | gitignored | | `simulation/isaac-sim/launch_scripts/modules//` | Overlay symlinks exposing a module's Isaac launch scripts | gitignored | @@ -136,7 +136,12 @@ deleting `modules.repos` and syncing) restores a clean tree, and ## Starting the stack with modules -`airstack up` includes the generated override automatically whenever +`airstack up` first reconciles the selected stack's `modules.repos` pins with +the checkout (missing modules are added and synced, differing pins are named +but kept, uncomposed dependency layers are built — see +[Stacks → Running a stack](stacks.md#running-a-stack)), so a reference stack that +pins a module — `full_default` pins the `asm_mighty` planner — works with no +manual `module add`. It then includes the generated override automatically whenever `.airstack/generated/docker-compose.modules.yaml` exists (an info line names it in the launch output). No modules synced → no file → byte-identical behavior to a module-free checkout. diff --git a/docs/development/stacks.md b/docs/development/stacks.md index cfbc9d29b..8f7e28d74 100644 --- a/docs/development/stacks.md +++ b/docs/development/stacks.md @@ -27,10 +27,10 @@ Anatomy is enforced by a unit test: `tests/meta/test_stack_layout_contract.py` | Stack | Topology | |-------|----------| -| [`full_default`](https://github.com/castacks/AirStack/tree/develop/stacks/full_default) | The full-autonomy topology (GPU `droan_gl` planner) — the baseline, and what launches when no stack is selected. | -| [`full_droan_cpu`](https://github.com/castacks/AirStack/tree/develop/stacks/full_droan_cpu) | CPU DROAN planner + live `disparity_expansion` (for machines without the GPU planner). | -| [`full_macvo`](https://github.com/castacks/AirStack/tree/develop/stacks/full_macvo) | MAC-VO as the planner's disparity source. Requires the `asm_macvo` module (`airstack module add asm_macvo`). | -| [`full_mighty`](https://github.com/castacks/AirStack/tree/develop/stacks/full_mighty) | The MIGHTY map-based local planner (+ acl-mapping voxel world model) in place of `droan_gl`. Requires the `asm_mighty` module (pinned in the stack's `modules.repos`). | +| [`full_default`](https://github.com/castacks/AirStack/tree/develop/stacks/full_default) | The full-autonomy topology with the MIGHTY map-based local planner (`asm_mighty` module: planner + acl-mapping voxel world model + NavigateTask bridge) — the baseline, and what launches when no stack is selected. | +| [`full_droan`](https://github.com/castacks/AirStack/tree/develop/stacks/full_droan) | The GPU DROAN reactive planner (`droan_gl`, `asm_droan` module) in place of MIGHTY — for depth-camera-only vehicles and legacy comparisons. | +| [`full_droan_cpu`](https://github.com/castacks/AirStack/tree/develop/stacks/full_droan_cpu) | CPU DROAN planner + live `disparity_expansion` (`asm_droan` module) for machines without a GPU planner. | +| [`full_macvo`](https://github.com/castacks/AirStack/tree/develop/stacks/full_macvo) | MAC-VO as the DROAN planner's disparity source. Requires the `asm_macvo` and `asm_droan` modules. | | [`lite_default`](https://github.com/castacks/AirStack/tree/develop/stacks/lite_default) | Onboard-lite topology, unsplit: interface, sensors, perception, flat Local layer, behavior; **no global, no logging**. | | [`lite_offload_global`](https://github.com/castacks/AirStack/tree/develop/stacks/lite_offload_global) | A **split stack**: `onboard.launch.xml` (= lite topology) + `offboard.launch.xml` (global layer only) + `bridge.yaml`. | @@ -68,6 +68,18 @@ effective config. (`launch/.launch.xml`) — reserved for [split stacks](#split-stacks-and-bridgeyaml). +**Module pins are reconciled at launch.** Before starting services, +`airstack up` reads the selected stack's `modules.repos`: a pinned module +absent from the checkout is added at the stack's pin and synced +(`airstack module add` + `module sync`); one present at a *different* pin is +left alone and named in a warning (an explicit local deviation wins); and +when the resulting layer plan has dependency steps that are not yet +composed, `airstack module lock --build` runs (unless +`AIRSTACK_NO_IMAGE_BUILD=1`). `--dry-run` / `--config-only` only report; +`AIRSTACK_NO_STACK_MODULE_SYNC=1` skips the step. This is what lets the +default stack pin the `asm_mighty` planner module and still work out of the +box. + Stack launch files need no `colcon build` — they are read from the bind mount; edit and re-launch. @@ -282,8 +294,8 @@ ignored. Select the topology with `--stack`: | You want | Command | |----------|---------| | The full-autonomy baseline | Nothing — `full_default` launches by default (or be explicit: `--stack full_default`) | -| CPU DROAN topology | `--stack full_droan_cpu` | -| MAC-VO disparity topology | `--stack full_macvo` (requires the `asm_macvo` module) | -| MIGHTY map-based local planner | `--stack full_mighty` (requires the `asm_mighty` module) | +| GPU DROAN reactive planner | `--stack full_droan` (`asm_droan` module) | +| CPU DROAN topology | `--stack full_droan_cpu` (`asm_droan` module) | +| MAC-VO disparity topology | `--stack full_macvo` (`asm_macvo` + `asm_droan` modules) | | Onboard-lite, unsplit | `--stack lite_default` | | Split onboard/offboard | `--stack lite_offload_global:onboard` / `:offboard` (+ generate the router config from `bridge.yaml`) | diff --git a/docs/development/working_with_coding_agents.md b/docs/development/working_with_coding_agents.md index de367786e..fc90e3d01 100644 --- a/docs/development/working_with_coding_agents.md +++ b/docs/development/working_with_coding_agents.md @@ -34,7 +34,7 @@ Instead of describing a workflow from scratch, name the skill — *"use the add- The full catalog with one-line triggers is the table in [`.agents/README.md`](https://github.com/castacks/AirStack/blob/develop/.agents/README.md) (mirrored in `AGENTS.md`). Two other steering moves that cost you one sentence each: -- **Name the reference implementation.** `AGENTS.md` lists one well-structured package per module type (e.g. `droan_local_planner` for local planners, `random_walk` for global planners); *"study the DROAN local planner first, then follow its structure"* anchors the agent to working code instead of invented patterns. +- **Name the reference implementation.** `AGENTS.md` lists one well-structured package per module type (e.g. the `asm_mighty` module's `mighty_bridge` for local planners, `random_walk` for global planners); *"study the MIGHTY bridge first, then follow its structure"* anchors the agent to working code instead of invented patterns. - **Say where the work lands.** Modules get wired in a stack's entry launch file, not in per-layer bringups (the old layer-bringup workflow is legacy) — telling the agent which stack you're targeting up front avoids a wrong-locus integration. ## 3. Make the agent test and record diff --git a/docs/getting_started/modular_airstack.md b/docs/getting_started/modular_airstack.md index 0919a2c9c..6fa012133 100644 --- a/docs/getting_started/modular_airstack.md +++ b/docs/getting_started/modular_airstack.md @@ -18,7 +18,7 @@ This is the base [Getting Started](index.md) setup — follow it there (clone, A **stack** is a self-contained folder under [`stacks/`](../development/stacks.md) — pinned module list, plain ROS 2 launch entry points, compose file, README. -Trunk ships five reference stacks; start from the baseline: +Trunk ships six reference stacks; start from the baseline: ```bash airstack up --stack full_default --sim isaac @@ -28,6 +28,9 @@ airstack ready # waits: containers → sim /clock → nodes → PX4 ready `--stack full_default` launches [`stacks/full_default/launch/stack.launch.xml`](../../stacks/full_default/README.md) — a flat list of module includes where every connection is written down. +Its local planner is itself a module ([mighty](../modules/mighty.md), pinned in +the stack's `modules.repos`): `airstack up` adds the pin to your checkout and +syncs it the first time, so the default stack needs no manual module step. (Stacks are the only dispatch: with no `--stack`, `full_default` launches anyway; this makes the choice explicit.) Command the drone from Foxglove exactly as in [Getting Started](index.md#move-robot). @@ -35,7 +38,7 @@ Foxglove exactly as in [Getting Started](index.md#move-robot). ## 3. Read the wiring — the map of the system Each stack commits a -[`wiring.md`](../../stacks/full_default/wiring.md) snapshotted **from the +[`wiring.md`](../../stacks/full_droan/wiring.md) snapshotted **from the running graph in CI** (nodes grouped by module, edges labeled topic/type/QoS). It cannot lie or rot: CI fails when the running system drifts from the committed diagram. When you wonder "who publishes this diff --git a/docs/modules/droan.md b/docs/modules/droan.md new file mode 100644 index 000000000..2a6e19fed --- /dev/null +++ b/docs/modules/droan.md @@ -0,0 +1,58 @@ +# droan + + + +> DROAN disparity-space local obstacle avoidance — the GPU (OpenGL) droan_gl planner and the CPU droan_local_planner with its disparity_expansion / disparity_graph / disparity_graph_cost_map world model, serving AirStack's NavigateTask / trajectory_controller seam from a stereo disparity image + +| | | +|---|---| +| Repository | [castacks/asm_droan](https://github.com/castacks/asm_droan) | +| Type | `ros_package` | +| Maintainer | ajong@andrew.cmu.edu | +| License | BSD-3-Clause-Clear | +| Registered ref | [`v0.1.0`](https://github.com/castacks/asm_droan/tree/v0.1.0) | +| Declared compat | `>=0.21.0-dev.10 <0.22.0` | +| Registry entry | [modules/droan.yaml](https://github.com/castacks/airstack-modules-index/blob/main/modules/droan.yaml) | + +## Install + +From an AirStack checkout ([AirStack Modules guide](../development/modules.md)): + +```bash +airstack module add https://github.com/castacks/asm_droan --version v0.1.0 +airstack up +``` + +`module add` pins the module in `modules.repos` and syncs it into the +gitignored `modules/` overlay; `airstack up` automatically includes the +generated compose override that mounts it into the containers. + +## Compatibility: declared vs verified + +The range `>=0.21.0-dev.10 <0.22.0` is **DECLARED** by the module author +(copied from the module's `module.yaml`). The **VERIFIED** record — rows +stamped exclusively by CI runs of the reusable +[module-system-tests workflow](../development/module_ci.md) — lives in the +registry's [compat/ matrix](https://github.com/castacks/airstack-modules-index/tree/main/compat) +([compat/droan.yaml](https://github.com/castacks/airstack-modules-index/blob/main/compat/droan.yaml) once stamped). +A compatibility claim that isn't CI-verified rots: trust the +matrix, read the declaration as intent. + +## Documentation + +- [Module README on GitHub @ `v0.1.0`](https://github.com/castacks/asm_droan/blob/v0.1.0/README.md) +- *The module repo was not fetched when this page was generated — the* + *links above go to GitHub at the registered ref (failure isolation:* + *an unreachable module repo never fails the docs deploy).* + +## Registered stacks using this module + +- [full_droan](../../stacks/full_droan/README.md) +- [full_droan_cpu](../../stacks/full_droan_cpu/README.md) +- [full_macvo](../../stacks/full_macvo/README.md) + +## Registry notes + +> Public repo. AirStack's in-tree local planner through 0.20.x, extracted with git filter-repo (history preserved) when MIGHTY became the default local planner in 0.21.0-dev.11 (compat floor dev.10 is one catalog-only sync earlier); older trunks still carry these packages in-tree, hence the compat floor. The droan_gl link deps (assimp / EGL / GLFW / GLM) are declared as tier-1 apt deps and enter the robot image via `airstack module lock --build` (run by `airstack up` when missing). Pick DROAN for depth-camera-only vehicles or minimal compute; the judged comparison that motivated the MIGHTY default is in the asm_mighty README. Consumed by trunk reference stacks full_droan (GPU), full_droan_cpu (CPU) and full_macvo (GPU, MAC-VO disparity source). diff --git a/docs/modules/index.md b/docs/modules/index.md index db55baf9b..549b41500 100644 --- a/docs/modules/index.md +++ b/docs/modules/index.md @@ -19,8 +19,9 @@ directory and is never hand-edited. | Module | Description | Type | Maintainer | Declared compat | Links | |--------|-------------|------|------------|-----------------|-------| | [dfm2_disturbances](dfm2_disturbances.md) | Isaac Sim disturbance library (fan/vent force fields, strobe lights, lens flare) | `isaac_extension` | ajong@andrew.cmu.edu | `>=0.19.0-alpha.18 <0.20.0` | [repo](https://github.com/castacks/asm_dfm2_disturbances) | +| [droan](droan.md) | DROAN disparity-space local obstacle avoidance — the GPU (OpenGL) droan_gl planner and the CPU droan_local_planner with its disparity_expansion / disparity_graph / disparity_graph_cost_map world model, serving AirStack's NavigateTask / trajectory_controller seam from a stereo disparity image | `ros_package` | ajong@andrew.cmu.edu | `>=0.21.0-dev.10 <0.22.0` | [repo](https://github.com/castacks/asm_droan) · [full_droan](../../stacks/full_droan/README.md) · [full_droan_cpu](../../stacks/full_droan_cpu/README.md) · [full_macvo](../../stacks/full_macvo/README.md) | | [macvo](macvo.md) | MAC-VO learned stereo visual odometry (ICRA 2025 best paper) — macvo_ros2 wrapper around the MAC-VO network, publishing odometry, a covariance-aware point cloud, and the disparity image the local planner can consume | `ros_package` | ajong@andrew.cmu.edu | `>=0.19.0-alpha.18 <0.20.0` | [repo](https://github.com/castacks/asm_macvo) · [full_macvo](../../stacks/full_macvo/README.md) | -| [mighty](mighty.md) | MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — a map-based replacement for the DROAN local planner | `ros_package` | ajong@andrew.cmu.edu | `>=0.20.0-alpha.16 <0.21.0` | [repo](https://github.com/castacks/asm_mighty) · [full_mighty](../../stacks/full_mighty/README.md) | +| [mighty](mighty.md) | MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — AirStack's default local planner (the map-based replacement for DROAN) | `ros_package` | ajong@andrew.cmu.edu | `>=0.21.0-dev.10 <0.22.0` | [repo](https://github.com/castacks/asm_mighty) · [full_default](../../stacks/full_default/README.md) | | [optitrack](optitrack.md) | OptiTrack NatNet mocap integration — natnet_ros2 client + PX4 external-vision fusion bridges on the robot, and the Motive-compatible NatNet server emulator for Isaac Sim | `ros_package` | ajong@andrew.cmu.edu | `>=0.19.0-alpha.18 <0.20.0` | [repo](https://github.com/castacks/asm_optitrack) | ## Registered stacks @@ -33,10 +34,10 @@ The stacks below are the ones REGISTERED in the index; the site nav's | Stack | Description | Declared compat | Wiring | Registry entry | |-------|-------------|-----------------|--------|----------------| -| [full_default](../../stacks/full_default/README.md) | The current full-autonomy topology as a self-contained stack folder — the baseline most users start from and the stack other stacks are copied from | `>=0.19.0-alpha.18 <0.21.0` | [wiring.md](../../stacks/full_default/wiring.md) | [full_default.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_default.yaml) | -| [full_droan_cpu](../../stacks/full_droan_cpu/README.md) | Full autonomy with the CPU DROAN local planner (droan_local_planner + live disparity_expansion world model) instead of the GPU droan_gl node | `>=0.19.0-alpha.18 <0.21.0` | [wiring.md](../../stacks/full_droan_cpu/wiring.md) | [full_droan_cpu.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_droan_cpu.yaml) | -| [full_macvo](../../stacks/full_macvo/README.md) | Full autonomy with MAC-VO learned stereo visual odometry as the disparity source for the local planner (droan_gl consumes /$ROBOT_NAME/perception/macvo/disparity) | `>=0.19.0-alpha.18 <0.21.0` | [wiring.md](../../stacks/full_macvo/wiring.md) | [full_macvo.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_macvo.yaml) | -| [full_mighty](../../stacks/full_mighty/README.md) | Full autonomy with the local planning layer swapped to the MIGHTY module (mighty planner + acl-mapping voxel world model fed by the filtered Ouster cloud + NavigateTask bridge) in place of droan_gl; everything else is identical to full_default | `>=0.20.0-alpha.16 <0.21.0` | *not committed yet* | [full_mighty.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_mighty.yaml) | +| [full_default](../../stacks/full_default/README.md) | The full-autonomy topology as a self-contained stack folder, with the MIGHTY map-based local planner (asm_mighty module: planner + acl-mapping voxel world model + NavigateTask bridge) — the baseline most users start from, the default when no stack is selected, and the stack other stacks are copied from | `>=0.21.0-dev.10 <0.22.0` | *not committed yet* | [full_default.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_default.yaml) | +| [full_droan](../../stacks/full_droan/README.md) | Full autonomy with the GPU DROAN reactive local planner (droan_gl, asm_droan module) in place of the default MIGHTY planner — the 0.20.x full_default topology kept as a named stack for depth-camera-only vehicles and legacy comparisons | `>=0.21.0-dev.10 <0.22.0` | [wiring.md](../../stacks/full_droan/wiring.md) | [full_droan.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_droan.yaml) | +| [full_droan_cpu](../../stacks/full_droan_cpu/README.md) | Full autonomy with the CPU DROAN local planner (droan_local_planner + live disparity_expansion world model, asm_droan module) in place of the default MIGHTY planner | `>=0.21.0-dev.10 <0.22.0` | [wiring.md](../../stacks/full_droan_cpu/wiring.md) | [full_droan_cpu.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_droan_cpu.yaml) | +| [full_macvo](../../stacks/full_macvo/README.md) | Full autonomy with MAC-VO learned stereo visual odometry as the disparity source for the DROAN local planner (droan_gl, asm_droan module, consumes /$ROBOT_NAME/perception/macvo/disparity) | `>=0.21.0-dev.10 <0.22.0` | [wiring.md](../../stacks/full_macvo/wiring.md) | [full_macvo.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_macvo.yaml) | ## See also diff --git a/docs/modules/mighty.md b/docs/modules/mighty.md index 406ca26a1..d112ad8df 100644 --- a/docs/modules/mighty.md +++ b/docs/modules/mighty.md @@ -4,7 +4,7 @@ python3 tools/gen_docs_catalog.py --index (the docs deploy workflows regenerate it against the live registry at build time) --> -> MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — a map-based replacement for the DROAN local planner +> MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — AirStack's default local planner (the map-based replacement for DROAN) | | | |---|---| @@ -12,8 +12,8 @@ | Type | `ros_package` | | Maintainer | ajong@andrew.cmu.edu | | License | BSD-3-Clause-Clear | -| Registered ref | [`v0.1.3`](https://github.com/castacks/asm_mighty/tree/v0.1.3) | -| Declared compat | `>=0.20.0-alpha.16 <0.21.0` | +| Registered ref | [`v0.1.4`](https://github.com/castacks/asm_mighty/tree/v0.1.4) | +| Declared compat | `>=0.21.0-dev.10 <0.22.0` | | Registry entry | [modules/mighty.yaml](https://github.com/castacks/airstack-modules-index/blob/main/modules/mighty.yaml) | ## Install @@ -21,7 +21,7 @@ From an AirStack checkout ([AirStack Modules guide](../development/modules.md)): ```bash -airstack module add https://github.com/castacks/asm_mighty --version v0.1.3 +airstack module add https://github.com/castacks/asm_mighty --version v0.1.4 airstack up ``` @@ -31,7 +31,7 @@ generated compose override that mounts it into the containers. ## Compatibility: declared vs verified -The range `>=0.20.0-alpha.16 <0.21.0` is **DECLARED** by the module author +The range `>=0.21.0-dev.10 <0.22.0` is **DECLARED** by the module author (copied from the module's `module.yaml`). The **VERIFIED** record — rows stamped exclusively by CI runs of the reusable [module-system-tests workflow](../development/module_ci.md) — lives in the @@ -42,15 +42,15 @@ matrix, read the declaration as intent. ## Documentation -- [Module README on GitHub @ `v0.1.3`](https://github.com/castacks/asm_mighty/blob/v0.1.3/README.md) +- [Module README on GitHub @ `v0.1.4`](https://github.com/castacks/asm_mighty/blob/v0.1.4/README.md) - *The module repo was not fetched when this page was generated — the* *links above go to GitHub at the registered ref (failure isolation:* *an unreachable module repo never fails the docs deploy).* ## Registered stacks using this module -- [full_mighty](../../stacks/full_mighty/README.md) +- [full_default](../../stacks/full_default/README.md) ## Registry notes -> Public repo. v0.1.0 was validated end-to-end on Isaac Sim: 44/44 vendored gtests, synthetic smoke harness, empty-world NavigateTask flight, 7/7 practice pillar-field traversals, and 5/5 judged obstacle-route flights (min clearances 1.59–1.65 m vs a 1.0 m gate); v0.1.1 is code-identical (README delta). v0.1.2 fixes the bridge for AirStack 0.20.x — takeoff leaves the trajectory controller in ROBOT_POSE, where trajectory_override is merged but never flown, so v0.1.1 commits one trajectory and idles ("never replans"); the bridge now sets TRACK, bounds/preempts NavigateTask goals, drops stale global_plan routes and turns to the goal yaw on arrival (MIGHTY drops the goal orientation). v0.1.3 adds launch args for the mapper->planner grid seam and the altitude band (defaults unchanged). The v0.1.2 fixes were verified in closed-loop Isaac flights; the judged campaign was not re-run. Wrapper packages are BSD-3-Clause-Clear; vendored upstream packages (mighty, DecompROS2, acl-mapping) keep their own permissive licenses — see the module's VENDORED.md. Consumed by trunk reference stack full_mighty (pin v0.1.3 or newer). +> Public repo. v0.1.0 was validated end-to-end on Isaac Sim: 44/44 vendored gtests, synthetic smoke harness, empty-world NavigateTask flight, 7/7 practice pillar-field traversals, and 5/5 judged obstacle-route flights (min clearances 1.59–1.65 m vs a 1.0 m gate); v0.1.1 is code-identical (README delta). v0.1.2 fixes the bridge for AirStack 0.20.x — takeoff leaves the trajectory controller in ROBOT_POSE, where trajectory_override is merged but never flown, so v0.1.1 commits one trajectory and idles ("never replans"); the bridge now sets TRACK, bounds/preempts NavigateTask goals, drops stale global_plan routes and turns to the goal yaw on arrival (MIGHTY drops the goal orientation). v0.1.3 adds launch args for the mapper->planner grid seam and the altitude band (defaults unchanged). v0.1.4 is code-identical to v0.1.3: it targets AirStack 0.21.x, where MIGHTY is the DEFAULT local planner — the trunk robot image ships the nlohmann-json header dep, so the module declares no image-level deps and the default stack needs no composed layer. The v0.1.2 fixes were verified in closed-loop Isaac flights; the judged campaign was not re-run. Wrapper packages are BSD-3-Clause-Clear; vendored upstream packages (mighty, DecompROS2, acl-mapping) keep their own permissive licenses — see the module's VENDORED.md. Consumed by trunk reference stacks full_default (the no-stack default), lite_default and lite_offload_global (pin v0.1.4 or newer; use v0.1.3 on 0.20.x trunks). diff --git a/docs/release_notes/index.md b/docs/release_notes/index.md index 128738817..9fcde0b96 100644 --- a/docs/release_notes/index.md +++ b/docs/release_notes/index.md @@ -21,6 +21,36 @@ its own notes. --> - Module catalog synced from the registry (`sync-modules-index`): `full_mighty`, `mighty`. +- **MIGHTY is the default local planner; DROAN moved to the `asm_droan` + module.** The `full_default` stack (and the lite stacks `lite_default` / + `lite_offload_global`) now include the MIGHTY map-based planner from the + [`mighty`](../modules/mighty.md) module (planner + acl-mapping voxel world + model + NavigateTask bridge, CPU-only, lidar-fed) in place of the GPU + `droan_gl` node. The judged obstacle-route comparison behind the change is + in the module README: DROAN's reactive, map-free design could not clear a + 1.0 m clearance gate in dense clutter (absorbing hover states, close-quarters + near-contacts), MIGHTY passed 5/5 with 1.59–1.65 m clearances behind the + same controller. The six DROAN packages (`droan_gl`, `droan_local_planner`, + `disparity_expansion`, `disparity_graph`, `disparity_graph_cost_map`, + `cost_map_interface`) left trunk for + [castacks/asm_droan](https://github.com/castacks/asm_droan) (history + preserved; registered as the [`droan`](../modules/droan.md) module). The + previous default topology is kept as the new + [`full_droan`](../../stacks/full_droan/README.md) reference stack (it + inherits `full_default`'s wiring baseline); `full_droan_cpu` and + `full_macvo` pin `asm_droan`; the opt-in `full_mighty` stack was folded into + `full_default`. Trunk's robot image swaps the `droan_gl` GL link deps for + MIGHTY's `nlohmann-json3-dev` header dep, so the default stack runs with no + composed module layer (asm_mighty **v0.1.4**, compat `>=0.21.0-dev.10`). +- **`airstack up` reconciles the selected stack's module pins.** A stack's + `modules.repos` is now honoured at launch: pinned modules missing from the + checkout are added and synced, differing local pins are kept and named, and + uncomposed dependency layers are built (`airstack module lock --build`, + unless `AIRSTACK_NO_IMAGE_BUILD=1`). `--dry-run` / `--config-only` only + report; `AIRSTACK_NO_STACK_MODULE_SYNC=1` opts out. Previously a + module-pinned stack required a manual `airstack module add` first — which + the module-pinned default stack would have made a first-run failure. + - **Fixed: post-release main→develop sync no longer skips.** The `sync-develop-from-main` workflow skipped whenever the merge result was content-identical to `develop` — exactly the situation right after a @@ -180,7 +210,7 @@ its own notes. --> bridge, packaged as the external [asm_mighty](https://github.com/castacks/asm_mighty) module (pinned at v0.1.1 in the stack's `modules.repos`; repo private until the AirStack - agent study concludes). [`full_mighty`](../../stacks/full_mighty/README.md) + agent study concludes). [`full_mighty`](https://github.com/castacks/AirStack/tree/0.20.0/stacks/full_mighty) (folded into `full_default` in 0.21.0) is `full_default` with only the local-planner include swapped — the module-swap demonstration for the modular architecture. Registered in the [module catalog](../modules/index.md); validated on Isaac Sim (44/44 diff --git a/docs/robot/autonomy/adding_a_controller.md b/docs/robot/autonomy/adding_a_controller.md index 3cb97db93..b78073ee1 100644 --- a/docs/robot/autonomy/adding_a_controller.md +++ b/docs/robot/autonomy/adding_a_controller.md @@ -5,7 +5,7 @@ AirStack splits control into two roles ([Controls overview](local/controls/index - **Trajectory controller** — a pure-pursuit trajectory *manager*, not itself a feedback controller. It **owns the [trajectory group (spec §5)](interface_conventions.md#5-trajectory-group-the-trajectory-controllers-contract-onboard-only)**: it consumes `trajectory_controller/trajectory_segment_to_add` and `trajectory_override` (`airstack_msgs/msg/TrajectoryXYZVYaw`), serves the `set_trajectory_mode` service, and emits `tracking_point` and `look_ahead` (`airstack_msgs/msg/Odometry` — not `nav_msgs`). Reference: [Trajectory Controller](../../../robot/ros_ws/src/local/controls/trajectory_controller/README.md). - **Feedback controller** — closes the loop between the tracking point and the vehicle's actual state and emits the [`control_setpoint` (spec §6)](interface_conventions.md#6-control_setpoint-controller-interface-command-onboard-only) command into the interface. Reference: `pid_controller` (`robot/ros_ws/src/local/controls/pid_controller` — no README; the cascaded position→velocity PID is described in the [Trajectory Controller README's Control Architecture section](../../../robot/ros_ws/src/local/controls/trajectory_controller/README.md#control-architecture)). -The verified chain in every reference stack (`full_default`, `full_droan_cpu`, `full_macvo`, `full_mighty`, `lite_default`, `lite_offload_global` onboard) is: +The verified chain in every reference stack (`full_default`, `full_droan`, `full_droan_cpu`, `full_macvo`, `lite_default`, `lite_offload_global` onboard) is: ```text trajectory_controller/tracking_point (airstack_msgs/Odometry, §5) diff --git a/docs/robot/autonomy/adding_a_world_model_and_planner.md b/docs/robot/autonomy/adding_a_world_model_and_planner.md index 6c403ebf4..4519ce162 100644 --- a/docs/robot/autonomy/adding_a_world_model_and_planner.md +++ b/docs/robot/autonomy/adding_a_world_model_and_planner.md @@ -2,16 +2,16 @@ AirStack has two planner slots — and behind each, a world-model slot. The first decision is which one you are filling: a local planner (Path A), a global planner (Path B), or a world model paired with a planner (Path C): -- **Local planner** — a perpetual node plus a `NavigateTask` server that consumes the [`global_plan` (spec §4)](interface_conventions.md#4-global_plan-global-waypoint-path), a world model input (disparity or point clouds), and the trajectory controller's `look_ahead`/`tracking_point`, and emits short collision-free segments on the [trajectory-controller surface (spec §5)](interface_conventions.md#5-trajectory-group-the-trajectory-controllers-contract-onboard-only) (`trajectory_controller/trajectory_segment_to_add`, `airstack_msgs/msg/TrajectoryXYZVYaw`). Reference: [DROAN](../../../robot/ros_ws/src/local/planners/droan_local_planner/README.md) ([overview](local/planning/index.md)). Spec §5 is **onboard-only** — a local planner can never run offboard. +- **Local planner** — a perpetual node plus a `NavigateTask` server that consumes the [`global_plan` (spec §4)](interface_conventions.md#4-global_plan-global-waypoint-path), a world model input (a lidar voxel map, disparity, or point clouds), and the trajectory controller's `look_ahead`/`tracking_point`, and emits short collision-free trajectories on the [trajectory-controller surface (spec §5)](interface_conventions.md#5-trajectory-group-the-trajectory-controllers-contract-onboard-only) (`trajectory_controller/trajectory_segment_to_add` or `trajectory_override`, `airstack_msgs/msg/TrajectoryXYZVYaw`). References: the default [MIGHTY](../../modules/mighty.md) module's `mighty_bridge` (a thin adapter serving `NavigateTask` in front of an existing planner) and [DROAN](../../modules/droan.md) (a native AirStack planner; [overview](local/planning/index.md)). Spec §5 is **onboard-only** — a local planner can never run offboard. - **Global planner** — a [task executor](tasks.md): an action server at `tasks/` ([spec §8](interface_conventions.md#8-tasks-task-action-servers)) that plans only while a goal is active, publishes the coarse path on [`global_plan` (spec §4)](interface_conventions.md#4-global_plan-global-waypoint-path), and delegates flying to the local planner via `tasks/navigate`. Reference: [Random Walk](../../../robot/ros_ws/src/global/planners/random_walk/README.md) ([overview](global/planning/index.md)). `global_plan` is the one interchange that may cross a machine boundary, so a global planner may run offboard (`lite_offload_global`). - **World model** — the representation a planner plans against. This is *two different contracts* — read the next section before picking a lane. ## World models: a matched pair locally, a spec'd interchange globally -**Local world models** feed the local planner a fast short-range obstacle representation. The reference is the disparity pipeline ([overview](local/world_model/index.md)): [disparity_expansion](../../../robot/ros_ws/src/local/world_models/disparity_expansion/README.md) (C-space expansion of stereo disparity by the robot radius) → [disparity_graph](../../../robot/ros_ws/src/local/world_models/disparity_graph/README.md) (rolling window of expanded-disparity keyframes with camera poses) → [disparity_graph_cost_map](../../../robot/ros_ws/src/local/world_models/disparity_graph_cost_map/README.md) (a `cost_map_interface` plugin the CPU DROAN planner loads via its `cost_map` parameter to score candidate trajectories). The GPU planner `droan_gl` does the expansion and graph internally on the GPU and consumes raw disparity directly. +**Local world models** feed the local planner a fast short-range obstacle representation ([overview](local/world_model/index.md)). The default is MIGHTY's acl-mapping voxel map (`global_mapper_ros`, in the [asm_mighty](https://github.com/castacks/asm_mighty) module): a sliding-window voxel map of occupied and unknown space built from the filtered lidar cloud, consumed by the planner over an exposed grid-topic seam. The other worked example is DROAN's disparity pipeline (in the [asm_droan](https://github.com/castacks/asm_droan) module): `disparity_expansion` (C-space expansion of stereo disparity by the robot radius) → `disparity_graph` (rolling window of expanded-disparity keyframes with camera poses) → `disparity_graph_cost_map` (a `cost_map_interface` plugin the CPU DROAN planner loads via its `cost_map` parameter to score candidate trajectories). The GPU planner `droan_gl` does the expansion and graph internally on the GPU and consumes raw disparity directly. -**Be honest about the local contract: there isn't a spec-level one.** Unlike `global_plan` or the trajectory group, the local world-model ↔ planner interface is **not** an interchange in the [Interface Conventions Specification](interface_conventions.md) — a local planner and its world model are a **matched pair**, wired together in the stack entry. Compare the reference stacks: `full_default` includes `droan_gl` alone (disparity in from `perception/stereo_image_proc/disparity`, world model internal), while `full_droan_cpu` includes `droan_local_planner` **plus** `disparity_expansion`, the planner consuming the expansion clouds by relative name in the shared `droan` namespace. Adding a new local world model therefore usually means adapting a planner to consume it (e.g. implementing the `cost_map_interface` plugin API) or bringing a paired planner with it. +**Be honest about the local contract: there isn't a spec-level one.** Unlike `global_plan` or the trajectory group, the local world-model ↔ planner interface is **not** an interchange in the [Interface Conventions Specification](interface_conventions.md) — a local planner and its world model are a **matched pair**, wired together in the stack entry. Compare the reference stacks: `full_default` includes one `mighty_module.launch.xml` (mapper + planner + bridge as a unit, the mapper→planner grid seam exposed as launch args), `full_droan` includes `droan_gl` alone (disparity in from `perception/stereo_image_proc/disparity`, world model internal), while `full_droan_cpu` includes `droan_local_planner` **plus** `disparity_expansion`, the planner consuming the expansion clouds by relative name in the shared `droan` namespace. Adding a new local world model therefore usually means adapting a planner to consume it (e.g. implementing DROAN's `cost_map_interface` plugin API, or feeding MIGHTY's `mighty_occupancy_grid_topic` seam) or bringing a paired planner with it. **Global world models** *are* spec'd: [`global_map` (spec §3)](interface_conventions.md#3-global_map-global-world-model) — today the [vdb_mapping_ros2](../../../robot/ros_ws/src/global/world_models/vdb_mapping_ros2/README.md) topics (`vdb_mapping/vdb_map_visualization` is the de-facto interchange the reference global planner consumes, plus the update-grid and point-cloud exports). A new global world model that produces the §3 surface drops in for the global planner without touching it. @@ -42,16 +42,16 @@ Inputs: `global_plan` (§4, `nav_msgs/Path`, `map` frame), your world model topi ### 3. Wire it into a stack -Planner variants are named stacks, not launch arguments — the [single-locus rule](../../development/stacks.md#the-single-locus-rule-and-its-lint) puts every wiring deviation in the stack entry file. The worked swap example is [full_droan_cpu](../../../stacks/full_droan_cpu/README.md): byte-identical to `full_default` except the local-planner block, where `stacks/full_droan_cpu/launch/stack.launch.xml` replaces the single `droan_gl.launch.xml` include with two lines: +Planner variants are named stacks, not launch arguments — the [single-locus rule](../../development/stacks.md#the-single-locus-rule-and-its-lint) puts every wiring deviation in the stack entry file. The worked swap examples are [full_droan](../../../stacks/full_droan/README.md) — byte-identical to `full_default` except the local-planner block, where the MIGHTY module's `mighty_module.launch.xml` include becomes the `asm_droan` module's `droan_gl.launch.xml` — and [full_droan_cpu](../../../stacks/full_droan_cpu/README.md), where that block is two lines: ```xml ``` -Do the same for yours: `airstack stack new full_default full_my_planner`, then in `stacks/full_my_planner/launch/stack.launch.xml` replace the DROAN include with your planner's include (plus any world-model include it needs). Only deviations from canonical names appear as include args — see how `full_macvo` passes exactly one (`droan_gl_disparity_topic`). For a planner that ships as an **external module**, the worked example is [full_mighty](../../../stacks/full_mighty/README.md): its `modules.repos` pins the [mighty module](../../modules/mighty.md) (planner + voxel world model + bridge), and the local-planner block is one `mighty_module.launch.xml` include. +Do the same for yours: `airstack stack new full_default full_my_planner`, then in `stacks/full_my_planner/launch/stack.launch.xml` replace the MIGHTY include with your planner's include (plus any world-model include it needs). Only deviations from canonical names appear as include args — see how `full_macvo` passes exactly one (`droan_gl_disparity_topic`). Every reference planner ships as an **external module**: the stack's `modules.repos` pins it (`full_default` pins the [mighty module](../../modules/mighty.md), `full_droan` the [droan module](../../modules/droan.md)) and `airstack up` syncs the pin when it is missing — do the same for a module-shipped planner of yours. -**Verify:** `airstack up --stack full_my_planner --sim isaac --robots 1 && airstack ready` succeeds and `ros2 node list` shows your planner in place of DROAN. +**Verify:** `airstack up --stack full_my_planner --sim isaac --robots 1 && airstack ready` succeeds and `ros2 node list` shows your planner in place of the `mighty/*` nodes. ### 4. Verify with wiring and a flight @@ -95,13 +95,13 @@ Same as Path A step 1, under `robot/ros_ws/src/local/world_models/` or `robot/ro ### 2. Produce the right surface - **Global:** produce the [`global_map` (spec §3)](interface_conventions.md#3-global_map-global-world-model) surface — at minimum the visualization-topic interchange the reference global planner consumes today — from your sensor input (the VDB map takes the filtered LiDAR cloud). Conform and the existing global planner needs no changes. -- **Local:** there is no spec surface to hit — produce the representation your **paired planner** consumes, and treat the disparity pipeline as the worked example of the pairing: `disparity_expansion` publishes expansion clouds the CPU DROAN planner reads by relative name, while the graph + cost map reach the planner as a `cost_map_interface` plugin selected by its `cost_map` parameter. If you keep DROAN, implementing that plugin API is the smallest integration; a different planner means adapting it to your representation (or writing one — Path A). +- **Local:** there is no spec surface to hit — produce the representation your **paired planner** consumes. Two worked pairings: MIGHTY consumes occupied/unknown voxel-centre clouds on its `mighty_occupancy_grid_topic` / `mighty_unknown_grid_topic` launch args, so a world model that publishes those (or a constraint node interposed on the mapper→planner seam) needs no planner change; DROAN's `disparity_expansion` publishes expansion clouds the CPU planner reads by relative name, while the graph + cost map reach it as a `cost_map_interface` plugin selected by its `cost_map` parameter. A different planner means adapting it to your representation (or writing one — Path A). **Verify (local):** with the pair running, `ros2 topic info` on your world-model output lists the planner as a subscriber (or the planner logs loading your cost-map plugin). **Verify (global):** `ros2 topic info /robot_1/vdb_mapping/vdb_map_visualization`-equivalent shows your node as publisher and the global planner as subscriber. ### 3. Wire the pair into a stack -A local world model and its planner are swapped **together** — [full_droan_cpu](../../../stacks/full_droan_cpu/README.md) is the template, replacing `full_default`'s single `droan_gl` include with the `droan_local_planner` + `disparity_expansion` pair (the two-line swap shown in Path A step 3). Do the same: `airstack stack new full_default full_my_wm`, then swap in your world-model include plus its paired planner's include in `stacks/full_my_wm/launch/stack.launch.xml`. For a global world model, replace the `vdb_mapping_ros2` include (and its `config` arg) with yours. +A local world model and its planner are swapped **together** — [full_droan_cpu](../../../stacks/full_droan_cpu/README.md) is the template, replacing `full_default`'s single MIGHTY include (mapper + planner as one unit) with the `droan_local_planner` + `disparity_expansion` pair (the two-line swap shown in Path A step 3). Do the same: `airstack stack new full_default full_my_wm`, then swap in your world-model include plus its paired planner's include in `stacks/full_my_wm/launch/stack.launch.xml`. For a global world model, replace the `vdb_mapping_ros2` include (and its `config` arg) with yours. **Verify:** `airstack up --stack full_my_wm --sim isaac --robots 1 && airstack ready`; `ros2 node list` shows the new pair. diff --git a/docs/robot/autonomy/integration_checklist.md b/docs/robot/autonomy/integration_checklist.md index 16abfd5ce..b4257bf4f 100644 --- a/docs/robot/autonomy/integration_checklist.md +++ b/docs/robot/autonomy/integration_checklist.md @@ -29,7 +29,7 @@ steps, and the documentation requirements. | **Activation** | Automatic | On-demand from an action client | | **Cancellation** | Not applicable | Caller can cancel mid-flight | | **Completion** | Never | Time limit, area covered, goal reached | -| **Examples** | State estimator, VDB mapper | random_walk, droan_gl | +| **Examples** | State estimator, VDB mapper | random_walk, mighty_bridge, droan_gl | **Use a task executor when your module:** diff --git a/docs/robot/autonomy/interface_conventions.md b/docs/robot/autonomy/interface_conventions.md index 1e5c3f7ea..93b44745b 100644 --- a/docs/robot/autonomy/interface_conventions.md +++ b/docs/robot/autonomy/interface_conventions.md @@ -73,7 +73,7 @@ Units: SI throughout (meters, seconds); image encodings per ROS convention. | `odometry_conversion/odometry` **(v1 canonical)** | `nav_msgs/msg/Odometry` | RELIABLE | state | produced onboard | > **v2 target:** plain `odometry` (`/{robot_name}/odometry`) is the intended -> canonical name; today every consumer (safety monitor, PID, DROAN, +> canonical name; today every consumer (safety monitor, PID, the local planner, > random_walk, trajectory controller, task servers) subscribes to > `odometry_conversion/odometry`, so **v1 records reality**. Renaming is a > spec-major change (see deprecation policy) with a coexistence window. @@ -164,7 +164,7 @@ skill). All types come from `task_msgs`: |---|---|---| | `tasks/takeoff` | `task_msgs/action/TakeoffTask` | takeoff_landing_planner (onboard) | | `tasks/land` | `task_msgs/action/LandTask` | takeoff_landing_planner (onboard) | -| `tasks/navigate` | `task_msgs/action/NavigateTask` | droan (local planner, onboard) | +| `tasks/navigate` | `task_msgs/action/NavigateTask` | the local planner (mighty_bridge by default, or droan; onboard) | | `tasks/fixed_trajectory` | `task_msgs/action/FixedTrajectoryTask` | trajectory_controller pkg (onboard) | | `tasks/exploration` | `task_msgs/action/ExplorationTask` | random_walk (global planner) | | `tasks/semantic_search` | `task_msgs/action/SemanticSearchTask` | (module-provided) | diff --git a/docs/robot/autonomy/local/index.md b/docs/robot/autonomy/local/index.md index 011eea596..58b5aa506 100644 --- a/docs/robot/autonomy/local/index.md +++ b/docs/robot/autonomy/local/index.md @@ -1,16 +1,16 @@ # Local Packages -The **local** layer closes the robot's short-range sense-plan-act loop: a fast local world model built from live sensor data, a reactive local planner that avoids obstacles the global map is too slow or too coarse to capture, and the controllers that turn planned trajectories into commands for the [interface](../interface/index.md). The loop is coupled through the trajectory controller's **look-ahead point** — the local planner plans forward from where the controller will soon be, and streams trajectory segments back to it. +The **local** layer closes the robot's short-range sense-plan-act loop: a fast local world model built from live sensor data, a local planner that avoids obstacles the global map is too slow or too coarse to capture, and the controllers that turn planned trajectories into commands for the [interface](../interface/index.md). The loop is coupled through the trajectory controller's trajectory group — the local planner streams trajectories (receding-horizon overrides for MIGHTY, look-ahead-anchored segments for DROAN) to the controller, which tracks them. ## Sub-layers -- [**World Model**](world_model/index.md) — disparity-based C-space obstacle representation for fast collision queries -- [**Planning**](planning/index.md) — the DROAN local planner: turns the global plan into short, collision-free trajectory segments +- [**World Model**](world_model/index.md) — the planner's short-range obstacle representation: MIGHTY's sliding voxel map (default) or DROAN's disparity-space C-space expansion +- [**Planning**](planning/index.md) — the local planner (MIGHTY by default; DROAN as the alternative): turns the global plan into short, collision-free trajectories - [**Controls**](controls/index.md) — trajectory controller (tracking/look-ahead point management) and PID controller (attitude/thrust commands) ## Launch -Local modules ship their own canonical launch files and are composed flat by the selected stack's entry launch file (`stacks//launch/*.launch.xml`) — the trunk stacks include `takeoff_landing_planner`, the trajectory controller, `droan_gl`, and the PID controller directly; see `stacks/full_default/launch/stack.launch.xml` for the composed wiring. +Local modules ship their own canonical launch files and are composed flat by the selected stack's entry launch file (`stacks//launch/*.launch.xml`) — the trunk stacks include `takeoff_landing_planner`, the trajectory controller, the local planner (`mighty_module.launch.xml` from the `asm_mighty` module in `full_default`; `droan_gl.launch.xml` from `asm_droan` in `full_droan`), and the PID controller directly; see `stacks/full_default/launch/stack.launch.xml` for the composed wiring. The planner modules are external repos pinned in each stack's `modules.repos`; `airstack up` syncs them when missing. ## Key Interchanges diff --git a/docs/robot/autonomy/local/planning/index.md b/docs/robot/autonomy/local/planning/index.md index 96face1c3..64009f995 100644 --- a/docs/robot/autonomy/local/planning/index.md +++ b/docs/robot/autonomy/local/planning/index.md @@ -1,12 +1,17 @@ # Local Planning -Local planners turn the coarse global plan into short, collision-free trajectory segments, reacting to obstacles the global map is too slow or too coarse to capture. They plan from the trajectory controller's look-ahead point and feed segments to it continuously. +Local planners turn the coarse global plan into short, collision-free trajectories, reacting to obstacles the global map is too slow or too coarse to capture. Every AirStack local planner serves the same seam — the `NavigateTask` action at `/{robot_name}/tasks/navigate` in, trajectories to the [trajectory controller](../controls/index.md) out — so the controllers, safety monitor, takeoff/landing pipeline and GCS are planner-agnostic, and swapping planners is one include line in a stack's entry launch file. -AirStack's baseline local planner is DROAN, in two implementations: +AirStack's default local planner is **MIGHTY**, and the **DROAN** reactive planner is available as an alternative. Both ship as modules: -- [**DROAN GL**](../../../../../robot/ros_ws/src/local/planners/droan_gl/README.md) (`droan_gl`) — GPU-accelerated, true-sphere disparity expansion via OpenGL shaders; the default in the `full_default` stack -- [**DROAN Local Planner**](../../../../../robot/ros_ws/src/local/planners/droan_local_planner/README.md) (`droan_local_planner`) — the CPU implementation, selected by the `full_droan_cpu` stack +| Planner | Module | Stacks | World model | Sensor input | Compute | +|---|---|---|---|---|---| +| [**MIGHTY**](../../../../modules/mighty.md) (`mighty_bridge` + `mighty_node`) — Hermite-spline planner over convex safe corridors (MIT ACL, RA-L 2026) | [asm_mighty](https://github.com/castacks/asm_mighty) | `full_default` (default), `lite_default`, `lite_offload_global` | sliding voxel map with explicit unknown space ([acl-mapping](../world_model/index.md)) | 3D lidar cloud (`sensors/ouster/point_cloud`) | CPU | +| [**DROAN GL**](../../../../modules/droan.md) (`droan_gl`) — GPU disparity-space reactive planner (OpenGL shaders) | [asm_droan](https://github.com/castacks/asm_droan) | `full_droan`, `full_macvo` | disparity graph, held on the GPU | stereo disparity image | GPU | +| [**DROAN Local Planner**](../../../../modules/droan.md) (`droan_local_planner`) — the CPU implementation | [asm_droan](https://github.com/castacks/asm_droan) | `full_droan_cpu` | `disparity_expansion` → `disparity_graph` → `disparity_graph_cost_map` nodes | stereo disparity (or depth) image | CPU | -Both are task executors serving `NavigateTask` at `/{robot_name}/tasks/navigate`. +**Choosing:** MIGHTY holds a persistent map with tunable clearance margins and takes the full 360° lidar, so it is the choice where clutter is dense and clearance matters. DROAN keeps no map and needs only a stereo/depth camera, so it suits depth-camera-only vehicles and minimal compute budgets; its accumulated collision votes cannot be erased by looking again, which can turn cluttered pockets into hover states. The judged side-by-side evaluation behind the default is in the [asm_mighty README](https://github.com/castacks/asm_mighty#why-mighty-replaced-droan). -Specialized maneuvers are handled by the [Takeoff Landing Planner](../../../../../robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md), and candidate trajectories come from the [Trajectory Library](../../../../../robot/ros_ws/src/local/planners/trajectory_library/README.md). +The trajectory controller's **look-ahead point** couples planner and controller: DROAN plans forward from it and appends `trajectory_segment_to_add` segments; MIGHTY replans anchored on the vehicle and publishes receding-horizon `trajectory_override` trajectories. Both are the [trajectory group (§5)](../../interface_conventions.md#5-trajectory-group-the-trajectory-controllers-contract-onboard-only) interchange. + +Specialized maneuvers are handled by the [Takeoff Landing Planner](../../../../../robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md), and DROAN's candidate trajectories come from the trunk [Trajectory Library](../../../../../robot/ros_ws/src/local/planners/trajectory_library/README.md). diff --git a/docs/robot/autonomy/local/world_model/index.md b/docs/robot/autonomy/local/world_model/index.md index 8429e8285..f5e5ea0f0 100644 --- a/docs/robot/autonomy/local/world_model/index.md +++ b/docs/robot/autonomy/local/world_model/index.md @@ -1,9 +1,8 @@ # Local World Model -Local world models give the local planner a fast, short-range obstacle representation built directly from sensor data — cheaper and lower-latency than the global map, at the cost of limited spatial extent. AirStack's local world model is disparity-based: +Local world models give the local planner a fast, short-range obstacle representation built directly from sensor data — cheaper and lower-latency than the global map, at the cost of limited spatial extent. A local world model and its planner are paired: there is no spec-level interchange between them (see [Adding a World Model and Planner](../../adding_a_world_model_and_planner.md)), so each planner module ships the representation it consumes. -- [**Disparity Expansion**](../../../../../robot/ros_ws/src/local/world_models/disparity_expansion/README.md) — C-space expansion of stereo disparity images by the robot radius -- [**Disparity Graph**](../../../../../robot/ros_ws/src/local/world_models/disparity_graph/README.md) — rolling window of expanded-disparity keyframes with their camera poses -- [**Disparity Graph Cost Map**](../../../../../robot/ros_ws/src/local/world_models/disparity_graph_cost_map/README.md) — cost-map plugin answering collision-cost queries for the DROAN local planner +- **acl-mapping voxel map** ([asm_mighty](https://github.com/castacks/asm_mighty) module, `global_mapper_ros`) — the default. A sliding-window voxel map that follows the drone, publishing occupied **and unknown** voxel clouds from the filtered 3D lidar cloud (`sensors/ouster/point_cloud`), registered through TF. The MIGHTY planner plans A* fronts and convex safe corridors through it with an explicit clearance margin. The mapper→planner grid seam is exposed as launch args (`mighty_mapper_*_topic` / `mighty_*_grid_topic`) so a stack can interpose its own constraint node — e.g. lidar occupancy ∪ no-fly volumes — without copying the module launch file. +- **Disparity pipeline** ([asm_droan](https://github.com/castacks/asm_droan) module) — for the DROAN planners. `disparity_expansion` performs C-space expansion of stereo disparity images by the robot radius; `disparity_graph` keeps a rolling window of expanded-disparity keyframes with their camera poses; `disparity_graph_cost_map` is the cost-map plugin (through `cost_map_interface`) answering collision-cost queries for the CPU `droan_local_planner`. The GPU planner `droan_gl` performs the expansion and graph internally in OpenGL shaders and uses none of these nodes. -The GPU planner `droan_gl` performs the expansion and graph internally on the GPU; the CPU pipeline uses these packages as separate nodes. +Either representation is selected implicitly by the stack's planner include: `full_default` / `lite_*` (MIGHTY + voxel map), `full_droan` / `full_macvo` (GPU DROAN, internal graph), `full_droan_cpu` (CPU DROAN + live `disparity_expansion`). diff --git a/docs/robot/autonomy/perception/adding_a_state_estimator.md b/docs/robot/autonomy/perception/adding_a_state_estimator.md index 3972b0901..91783eb11 100644 --- a/docs/robot/autonomy/perception/adding_a_state_estimator.md +++ b/docs/robot/autonomy/perception/adding_a_state_estimator.md @@ -1,6 +1,6 @@ # Adding a State Estimator -A state estimator in AirStack is any node that produces the robot's primary state estimate — the odometry surface every downstream consumer (safety monitor, PID controller, DROAN, random_walk, trajectory controller, task servers) subscribes to. The contract is [Interface Conventions §2](../interface_conventions.md#2-odometry-primary-state-estimate): `nav_msgs/Odometry` on `odometry_conversion/odometry` (RELIABLE QoS), `pose` in the `map` frame (ENU, meters), `twist` in the body frame (`child_frame_id`), plus the `map → base_link` TF. This guide assumes you have run the stack before and know the [layered architecture](../index.md); it swaps the estimator, not the consumers. +A state estimator in AirStack is any node that produces the robot's primary state estimate — the odometry surface every downstream consumer (safety monitor, PID controller, the local planner, random_walk, trajectory controller, task servers) subscribes to. The contract is [Interface Conventions §2](../interface_conventions.md#2-odometry-primary-state-estimate): `nav_msgs/Odometry` on `odometry_conversion/odometry` (RELIABLE QoS), `pose` in the `map` frame (ENU, meters), `twist` in the body frame (`child_frame_id`), plus the `map → base_link` TF. This guide assumes you have run the stack before and know the [layered architecture](../index.md); it swaps the estimator, not the consumers. Today's default estimator path is PX4's EKF: MAVROS publishes `/{robot_name}/interface/mavros/local_position/odom`, and the `odometry_conversion` node (from the `robot_interface` package, launched inside `robot/ros_ws/src/interface/interface_bringup/launch/interface.launch.py`) normalizes it onto the canonical surface — it restamps `frame_id`/`child_frame_id` to `map`/`base_link`, republishes on `odometry_conversion/odometry`, and broadcasts the `map → base_link` TF (`convert_odometry_to_transform: true`). Your estimator replaces the *input* to that node, not the node itself. diff --git a/docs/robot/autonomy/system_architecture.md b/docs/robot/autonomy/system_architecture.md index ac8b1205b..59f5e103c 100644 --- a/docs/robot/autonomy/system_architecture.md +++ b/docs/robot/autonomy/system_architecture.md @@ -77,22 +77,22 @@ robot-commands panel or the RViz Tasks Panel) cascade down through the stack: ```mermaid graph TD GCS[GCS operator] -->|ExplorationTask| RW[random_walk_planner] - RW -->|NavigateTask| DG[droan_gl] - DG -->|trajectory_segment_to_add| TC[trajectory_controller] + RW -->|NavigateTask| LP[mighty_bridge] + LP -->|trajectory_override| TC[trajectory_controller] style GCS fill:#cce5ff style TC fill:#cce5ff style RW fill:#d4edda - style DG fill:#d4edda + style LP fill:#d4edda ``` *Blue = perpetual node / external client, green = task executor.* The global-layer task executor (e.g. `random_walk_planner`) decides *where* to go and delegates the actual flying to the local-layer task -executor (`droan_gl` or `droan_local_planner`) via a `NavigateTask` -action, which feeds trajectory segments to the perpetual trajectory -controller. +executor (the MIGHTY `mighty_bridge` in the default stack; `droan_gl` or +`droan_local_planner` in the DROAN stacks) via a `NavigateTask` action, +which feeds trajectories to the perpetual trajectory controller. See [Task Executors](tasks.md) for the full list of task action types and their interfaces. @@ -182,8 +182,9 @@ See the [Perception layer documentation](perception/index.md) and the ### Local Layer The local layer is the reactive, short-horizon part of the stack, organized in -three sub-layers: **world models** (e.g. disparity expansion) maintain an -obstacle representation around the robot, **planners** (DROAN, takeoff/landing) +three sub-layers: **world models** (e.g. MIGHTY's acl-mapping voxel map, or +DROAN's disparity expansion) maintain an obstacle representation around the +robot, **planners** (MIGHTY or DROAN, takeoff/landing) generate collision-free trajectories through it, and **controllers** (trajectory controller, PID controller) track those trajectories at high rate and hand setpoints to the interface layer. @@ -232,7 +233,7 @@ along the way) to the GCS: sequenceDiagram participant GCS as GCS (action client) participant GLO as Global Task Executor
(random_walk_planner) - participant LOC as Local Task Executor
(droan_gl) + participant LOC as Local Task Executor
(mighty_bridge) participant CTL as Trajectory Controller participant IF as Interface participant HW as Hardware/Sim diff --git a/docs/robot/autonomy/tasks.md b/docs/robot/autonomy/tasks.md index 5ef549f92..a5d747ced 100644 --- a/docs/robot/autonomy/tasks.md +++ b/docs/robot/autonomy/tasks.md @@ -13,8 +13,8 @@ The operator sends high-level task goals from the GCS (Foxglove robot-commands p ```mermaid graph TD GCS[GCS operator] -->|ExplorationTask| RW[random_walk_planner] - RW -->|NavigateTask| DG[droan_gl / droan_local_planner] - DG -->|TrajectoryXYZVYaw| TC[trajectory_controller] + RW -->|NavigateTask| LP[local planner: mighty_bridge / droan_gl / droan_local_planner] + LP -->|TrajectoryXYZVYaw| TC[trajectory_controller] ``` All task action servers are remapped to `/{robot_name}/tasks/{task_name}` in their module launch files. @@ -139,7 +139,7 @@ Follow a pre-defined trajectory specified by shape type and parameters. With `lo **File:** `action/NavigateTask.action` **Action server:** `/{robot_name}/tasks/navigate` -**Implemented by:** `droan_gl`, `droan_local_planner` +**Implemented by:** the local planner — `mighty_bridge` (MIGHTY, the default; [asm_mighty](https://github.com/castacks/asm_mighty) module), `droan_gl` / `droan_local_planner` (DROAN; [asm_droan](https://github.com/castacks/asm_droan) module) Navigate along a global plan path using local obstacle avoidance. This is the lowest-level task action — it is the sink for all higher-level tasks that involve flying somewhere. diff --git a/docs/robot/autonomy_modes.md b/docs/robot/autonomy_modes.md index b1536658f..1cc0a2214 100644 --- a/docs/robot/autonomy_modes.md +++ b/docs/robot/autonomy_modes.md @@ -8,13 +8,13 @@ environment variable is a preflight error.) | Stack | What runs | |---|---| -| **`full_default`** | Every autonomy module: interface, sensors, perception, local planning, global planning, behavior, logging — the default when no stack is selected | +| **`full_default`** | Every autonomy module: interface, sensors, perception, local planning (MIGHTY, `asm_mighty` module), global planning, behavior, logging — the default when no stack is selected | | **`lite_default`** | Lite modules only: interface, sensors, perception, local planning, behavior — no global planner | | **`lite_offload_global:onboard`** | The lite set on the vehicle, bridged to an offboard global half per the stack's `bridge.yaml` | | **`lite_offload_global:offboard`** | Global planner + world model only — runs on the GCS paired with onboard robots | -| **`full_droan_cpu`** | `full_default` with the CPU DROAN local planner (`droan_local_planner` + `disparity_expansion`) instead of the GPU `droan_gl` node | -| **`full_macvo`** | `full_default` with MAC-VO as the disparity source — requires `airstack module add asm_macvo` first | -| **`full_mighty`** | `full_default` with the MIGHTY map-based local planner (`asm_mighty` module: planner + acl-mapping voxel world model + NavigateTask bridge) in place of `droan_gl` | +| **`full_droan`** | `full_default` with the GPU DROAN reactive local planner (`droan_gl`, `asm_droan` module) in place of MIGHTY | +| **`full_droan_cpu`** | `full_default` with the CPU DROAN local planner (`droan_local_planner` + `disparity_expansion`, `asm_droan` module) in place of MIGHTY | +| **`full_macvo`** | `full_droan` with MAC-VO as the planner's disparity source (`asm_macvo` + `asm_droan` modules) | Instead of picking a stack per container, `airstack up --fleet ` launches a whole **fleet**: `config/fleets/.yaml` declares who exists, which diff --git a/docs/simulation/index.md b/docs/simulation/index.md index 3378258e5..9edcb15cb 100644 --- a/docs/simulation/index.md +++ b/docs/simulation/index.md @@ -83,7 +83,7 @@ An open-source drone simulator built on Unreal Engine with native PX4 SITL integ **Use cases:** - PX4-in-the-loop testing with photorealistic environments -- Depth-based obstacle avoidance testing (DROAN) +- Depth-based obstacle avoidance testing (the DROAN stacks) - Environments from the Unreal Engine ecosystem **Launch:** `airstack up --sim airsim` diff --git a/docs/simulation/ms-airsim/index.md b/docs/simulation/ms-airsim/index.md index 5fca23a31..c4d27faa9 100644 --- a/docs/simulation/ms-airsim/index.md +++ b/docs/simulation/ms-airsim/index.md @@ -13,7 +13,7 @@ Microsoft AirSim (legacy) provides an alternative simulation backend for AirStac - **PX4 SITL integration** - Native MAVLink lockstep with PX4 autopilot - **Unreal Engine environments** - Photorealistic scenes (UE 4.27) -- **Depth camera simulation** - Used by DROAN for obstacle avoidance +- **Depth camera simulation** - Stereo + depth for the disparity-based DROAN stacks (`full_droan`, `full_droan_cpu`) - **Lightweight setup** - Pre-built binary environments, no Omniverse required **Trade-offs vs Isaac Sim:** @@ -82,7 +82,7 @@ airstack connect ms-airsim │ PX4 SITL ×N ─── MAVLink UDP ─┼─────┼─► 24540+i/24580+i │ │ ▲ │ │ │ │ │ │ │ │ ▼ │ -│ Bridge Node ×N ─── ROS 2 DDS─┼─────┼─► Perception → DROAN │ +│ Bridge Node ×N ─── ROS 2 DDS─┼─────┼─► Perception → local planner │ │ (stereo RGB + depth + info) │ │ │ └────────────────────────────────┘ └──────────────────────┘ airstack_network (172.31.0.0/24) @@ -94,7 +94,7 @@ airstack connect ms-airsim 2. N PX4 SITL instances run in lockstep with AirSim via TCP (port `4560+i`) 3. MAVROS in the robot container connects to PX4 SITL via MAVLink UDP (offboard `14540 + ROS_DOMAIN_ID`, see `interface.launch.py`; ports `24540+i`/`24580+i` in `settings.json` are AirSim's own PX4 control channel) 4. Bridge nodes (one per robot) publish stereo RGB + depth + camera_info to ROS 2 topics -5. `disparity_expansion` converts depth to disparity for DROAN +5. Perception publishes disparity; the selected stack's local planner consumes it (the `full_droan_cpu` stack's `disparity_expansion` expands it into C-space) ## Configuration diff --git a/gcs/ros_ws/src/action_relay/action_relay/relay_node.py b/gcs/ros_ws/src/action_relay/action_relay/relay_node.py index efd7ec25b..624da61f5 100644 --- a/gcs/ros_ws/src/action_relay/action_relay/relay_node.py +++ b/gcs/ros_ws/src/action_relay/action_relay/relay_node.py @@ -121,7 +121,7 @@ def _build_navigate_goal(d, ts): # Waypoints from the Foxglove editor are in *global* ENU (gcs_visualizer's # shared map). The robot's own TF tree uses 'map' rooted at its takeoff # position, so we subtract the boot offset and keep the 'map' frame_id — - # the on-robot planner (droan_gl, target_frame=map) expects this. + # the on-robot local planner (map-frame goals) expects this. if in_frame == 'map': if ts is None or ts.get('boot') is None: raise RuntimeError( diff --git a/mkdocs.yml b/mkdocs.yml index 99460b788..f11adee65 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -186,15 +186,16 @@ nav: - Platform Matrix: docs/real_world/supported_platforms.md - Reference Stacks: - full_default: stacks/full_default/README.md + - full_droan: stacks/full_droan/README.md - full_droan_cpu: stacks/full_droan_cpu/README.md - full_macvo: stacks/full_macvo/README.md - - full_mighty: stacks/full_mighty/README.md - lite_default: stacks/lite_default/README.md - lite_offload_global: stacks/lite_offload_global/README.md - Modules Catalog: - Catalog: docs/modules/index.md - module.yaml Schema: common/module_schema/README.md - dfm2_disturbances: docs/modules/dfm2_disturbances.md + - droan: docs/modules/droan.md - macvo: docs/modules/macvo.md - mighty: docs/modules/mighty.md - optitrack: docs/modules/optitrack.md @@ -211,15 +212,10 @@ nav: - Local: - Overview: docs/robot/autonomy/local/index.md - World Model: docs/robot/autonomy/local/world_model/index.md - - Disparity Expansion: robot/ros_ws/src/local/world_models/disparity_expansion/README.md - - Disparity Graph: robot/ros_ws/src/local/world_models/disparity_graph/README.md - - Disparity Graph Cost Map: robot/ros_ws/src/local/world_models/disparity_graph_cost_map/README.md - Planning: docs/robot/autonomy/local/planning/index.md - Trajectory Library: robot/ros_ws/src/local/planners/trajectory_library/README.md - Takeoff Landing Planner: robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md - Takeoff Landing Testing: robot/ros_ws/src/local/planners/takeoff_landing_planner/test/README.md - - DROAN Local Planner: robot/ros_ws/src/local/planners/droan_local_planner/README.md - - DROAN GL: robot/ros_ws/src/local/planners/droan_gl/README.md - Controls: docs/robot/autonomy/local/controls/index.md - Trajectory Controller: robot/ros_ws/src/local/controls/trajectory_controller/README.md - Global: diff --git a/robot/docker/Dockerfile.robot b/robot/docker/Dockerfile.robot index b904ac301..6ece7e77f 100644 --- a/robot/docker/Dockerfile.robot +++ b/robot/docker/Dockerfile.robot @@ -309,17 +309,15 @@ RUN apt-get ${UPDATE_FLAGS} update && apt-get ${INSTALL_FLAGS} install -y --no-i && rm -rf /var/lib/apt/lists/* RUN mkdir /var/run/sshd -# droan_gl link deps (assimp/EGL/GL) — declared in its package.xml -# (robot/ros_ws/src/local/planners/droan_gl: rosdep keys assimp, opengl, -# libglfw3-dev, libglm-dev). Installed explicitly so the in-container colcon -# build doesn't rely on ros-desktop transitives. EGL has no rosdep key on -# jazzy/noble, hence libegl-dev appears only here. +# Default local planner dep: the asm_mighty module (MIGHTY, pinned by the +# full_default / lite_default / lite_offload_global stacks) reads its solver +# config with the header-only nlohmann json library. It is installed in the +# base image so the default stack builds with no module dependency layer (the +# module declares no deps of its own). Other modules' deps enter the image via +# their own tier-1/2 layers (airstack module lock --build) — e.g. asm_droan's +# assimp/EGL/GLFW/GLM link deps for droan_gl. RUN apt-get ${UPDATE_FLAGS} update && apt-get ${INSTALL_FLAGS} install -y --no-install-recommends \ - libassimp-dev \ - libgl1-mesa-dev \ - libegl-dev \ - libglfw3-dev \ - libglm-dev \ + nlohmann-json3-dev \ && rm -rf /var/lib/apt/lists/* # Copy build artifacts from the builder stage diff --git a/robot/ros_ws/src/global/planners/random_walk/README.md b/robot/ros_ws/src/global/planners/random_walk/README.md index 50ab2f986..a6b5cfea0 100644 --- a/robot/ros_ws/src/global/planners/random_walk/README.md +++ b/robot/ros_ws/src/global/planners/random_walk/README.md @@ -44,7 +44,7 @@ GCS operator → ExplorationTask → random_walk_planner ↓ NavigateTask (/{robot_name}/tasks/navigate) ↓ - droan_gl (local planner) + local planner (mighty_bridge by default) ↓ trajectory_controller ``` diff --git a/robot/ros_ws/src/local/planners/droan_gl/CMakeLists.txt b/robot/ros_ws/src/local/planners/droan_gl/CMakeLists.txt deleted file mode 100644 index 4d09ded82..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(droan_gl) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(stereo_msgs REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(visualization_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(cv_bridge REQUIRED) -find_package(ament_index_cpp REQUIRED) -find_package(PCL REQUIRED COMPONENTS common io) -find_package(pcl_conversions REQUIRED) -find_package(airstack_common REQUIRED) -find_package(airstack_msgs REQUIRED) -find_package(trajectory_library REQUIRED) -find_package(rclcpp_action REQUIRED) -find_package(task_msgs REQUIRED) - -add_executable(droan_gl_node src/droan_gl_node.cpp src/gl_interface.cpp src/global_plan.cpp src/rewind_monitor.cpp src/glad/src/glad.c) -target_include_directories(droan_gl_node PUBLIC - $ - $) -target_compile_features(droan_gl_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 -ament_target_dependencies(droan_gl_node rclcpp rclcpp_action sensor_msgs stereo_msgs nav_msgs visualization_msgs tf2 tf2_ros tf2_geometry_msgs cv_bridge ament_index_cpp pcl_conversions airstack_common airstack_msgs trajectory_library task_msgs) -target_link_libraries(droan_gl_node glfw dl assimp EGL GL) - -# install(TARGETS droan DESTINATION lib/${PROJECT_NAME}) -install(TARGETS droan_gl_node DESTINATION lib/${PROJECT_NAME}) - -install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY shaders DESTINATION share/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/robot/ros_ws/src/local/planners/droan_gl/README.md b/robot/ros_ws/src/local/planners/droan_gl/README.md deleted file mode 100644 index c79c7773f..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/README.md +++ /dev/null @@ -1,164 +0,0 @@ -# DROAN GL Local Planner - -## Overview - -DROAN GL is a GPU-accelerated local planner for obstacle avoidance using stereo disparity. It implements the [DROAN](https://www.ri.cmu.edu/app/uploads/2018/01/root.pdf) (Disparity-space Representation for Obstacle Avoidance and Navigation) algorithm with a key improvement: obstacles are expanded using the true sphere shape rather than the camera-facing bounding box approximation used in the original paper, which can be done efficiently on the GPU via OpenGL shaders. - -![expansion](images/expansion.png) - -*Red = raw disparity, black = foreground expansion, white = background expansion.* - -![trajectories](images/trajectories.png) - -*Green = collision-free trajectories, red = in collision, gray = entering unseen space. Cyan/blue lines = global plan used for scoring. Green arrows = camera poses stored in the disparity graph.* - -## How It Works - -### 1. Disparity Expansion (GPU) - -On each stereo disparity frame, the GL interface renders the disparity point cloud onto the GPU, then runs expansion shaders that inflate each obstacle point outward by `expansion_radius` meters as a true sphere. This produces two expanded images: - -- **Foreground expansion** — obstacles pushed toward the camera (conservative near bound) -- **Background expansion** — obstacles pushed away from the camera (conservative far bound) - -### 2. Disparity Graph - -Expanded disparity frames are not used one at a time. Instead, the node maintains a rolling **disparity graph**: a fixed-size list of (pose, foreground expansion, background expansion) tuples representing past observations. A new entry is added to the graph whenever the drone has moved more than `graph_distance_threshold` meters or rotated more than `graph_angle_threshold` degrees since the last entry. The graph holds up to `graph_nodes` entries; the oldest entry is evicted when the list is full. - -This graph is the obstacle representation used for collision checking — it gives the planner a wider spatial memory of obstacles than any single frame could provide. - -### 3. Trajectory Evaluation (2.5 Hz) - -A timer fires at 2.5 Hz to plan the next local trajectory. Planning is relative to the **look-ahead point** published by the trajectory controller, which is always slightly ahead of the drone's current tracking point. - -For each candidate trajectory in the library: - -1. Every waypoint along the trajectory is projected into the camera frame of each disparity graph node. -2. The GPU counts how many graph nodes see the waypoint as **seen** (obstacle-free), **unseen** (outside camera FOV), or **in collision** (inside expanded obstacle). -3. A trajectory is marked **safe** if no waypoint has more collisions than seen observations. - -### 4. Trajectory Scoring - -Safe trajectories are scored against the global plan: - -```text -cost = deviation_from_plan - forward_progress_along_plan -``` - -Lower cost is better. The selected trajectory minimizes lateral deviation from the global plan while maximizing forward progress along it. The best trajectory is published as a `TrajectoryXYZVYaw` segment to the trajectory controller. - -### 5. Rewind Monitoring - -Two stuck conditions trigger a rewind (reversal along the past trajectory): - -| Condition | Parameter | Rewind duration | -| --------- | --------- | --------------- | -| All trajectories in collision for too long | `all_in_collision_duration_threshold` | `all_in_collision_rewind_duration` | -| Robot stationary for too long | `stationary_history_duration`, `stationary_distance_threshold` | `stationary_rewind_duration` or until `stationary_rewind_distance` is covered | - ---- - -## Task Executor - -This node is a **task executor**: it runs as a ROS 2 action server and is activated on demand via a `NavigateTask` goal. It does not plan continuously — planning only happens while a goal is active. - -**Action server:** `/{robot_name}/tasks/navigate` -**Type:** `task_msgs/action/NavigateTask` - -### Cascade - -```text -random_walk_planner → NavigateTask → droan_gl - ↓ - trajectory_segment_to_add - ↓ - trajectory_controller -``` - -### Goal parameters - -| Field | Type | Description | -| ----- | ---- | ----------- | -| `global_plan` | nav_msgs/Path | Path to follow; last pose is the goal | -| `goal_tolerance_m` | float32 | Distance from goal pose to consider task complete (m) | - -### Feedback (published ~1 Hz) - -| Field | Type | Description | -| ----- | ---- | ----------- | -| `status` | string | `"navigating"` | -| `distance_to_goal` | float32 | 3D Euclidean distance to goal pose (m) | -| `current_position` | geometry_msgs/Point | Current tracking point position | - -### Result - -| Field | Type | Description | -| ----- | ---- | ----------- | -| `success` | bool | True if goal pose reached within tolerance; false if canceled or error | -| `message` | string | `"Goal reached"`, `"Canceled"`, or `"Node shutting down"` | - -### Trajectory controller mode - -On goal acceptance the node calls the `set_trajectory_mode` service with mode `ADD_SEGMENT`, enabling the trajectory controller to extend the trajectory buffer as new segments arrive. On goal completion or cancellation it restores mode `TRACK`. - -### CLI test - -```bash -# Navigate to a specific pose (requires a populated global plan topic) -ros2 action send_goal /robot_1/tasks/navigate task_msgs/action/NavigateTask \ - '{global_plan: {header: {frame_id: "map"}, poses: [{pose: {position: {x: 10.0, y: 0.0, z: 3.0}}}]}, goal_tolerance_m: 1.0}' \ - --feedback -``` - ---- - -## Parameters - -| Parameter | Default | Description | -| --------- | ------- | ----------- | -| `target_frame` | `"map"` | Frame for collision checking and visualization | -| `look_ahead_frame` | `"look_ahead_point_stabilized"` | Frame used as trajectory planning origin | -| `rewind_info_frame` | `"base_link_stabilized"` | Frame for rewind status text marker | -| `visualize` | `true` | Publish expanded disparity pointcloud (high CPU cost when enabled) | -| `expansion_radius` | — | Sphere radius (m) for obstacle expansion | -| `seen_radius` | — | Radius (m) around drone treated as observed/safe | -| `ht` | — | Trajectory horizon (seconds) | -| `dt` | — | Trajectory time step (seconds) | -| `downsample_scale` | — | Disparity image downsample factor before GPU processing | -| `graph_nodes` | — | Max number of disparity observations stored for collision checking | -| `graph_distance_threshold` | — | Min distance (m) travelled before storing a new observation | -| `graph_angle_threshold` | — | Min yaw change (degrees) before storing a new observation | -| `all_in_collision_duration_threshold` | — | Seconds all trajectories must be in collision to trigger rewind | -| `all_in_collision_rewind_duration` | — | Duration (s) of rewind when all-in-collision condition fires | -| `stationary_history_duration` | — | Observation window (s) for stationary detection | -| `stationary_distance_threshold` | — | Max movement (m) over the window to be considered stationary | -| `stationary_rewind_distance` | — | Target rewind distance (m) for stationary rewind | -| `stationary_rewind_duration` | — | Max rewind duration (s) for stationary rewind | - ---- - -## Subscriptions - -| Topic | Type | Description | -| ----- | ---- | ----------- | -| `disparity` | stereo_msgs/DisparityImage | Stereo disparity image | -| `camera_info` | sensor_msgs/CameraInfo | Camera intrinsics for disparity unprojection | -| `look_ahead` | airstack_msgs/Odometry | Look-ahead point from trajectory controller (trajectory planning origin) | -| `tracking_point` | airstack_msgs/Odometry | Current robot tracking point (for stuck detection and goal distance) | -| `global_plan` | nav_msgs/Path | Global path for trajectory scoring (also set via NavigateTask goal) | -| `reset_stuck` | std_msgs/Empty | Manually clear stuck detection history | -| `clear_map` | std_msgs/Empty | Clear stuck detection history (GL map clearing not yet implemented) | - -## Publications - -| Topic | Type | Description | -| ----- | ---- | ----------- | -| `trajectory_segment_to_add` | airstack_msgs/TrajectoryXYZVYaw | Best local trajectory segment | -| `foreground_expanded` | sensor_msgs/Image | GPU-expanded foreground disparity (visualization) | -| `background_expanded` | sensor_msgs/Image | GPU-expanded background disparity (visualization) | -| `fg_bg_cloud` | sensor_msgs/PointCloud2 | Expanded obstacle pointcloud (visualization) | -| `traj_debug` | visualization_msgs/MarkerArray | Trajectory library with collision status coloring | -| `graph_vis` | visualization_msgs/MarkerArray | Disparity graph camera pose arrows | -| `local_planner_global_plan_vis` | visualization_msgs/MarkerArray | Global plan segment used for scoring | -| `stuck` | std_msgs/Bool | True when rewind is active | -| `rewind_info` | visualization_msgs/MarkerArray | Rewind status text markers | diff --git a/robot/ros_ws/src/local/planners/droan_gl/config/cone.dae b/robot/ros_ws/src/local/planners/droan_gl/config/cone.dae deleted file mode 100644 index cf61ac456..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/config/cone.dae +++ /dev/null @@ -1,297 +0,0 @@ - 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ros__parameters: - target_frame: map - look_ahead_frame: look_ahead_point_stabilized - rewind_info_frame: base_link_stabilized - visualize: true - - # graph / expansion (see gl_interface.cpp) - graph_nodes: 10 - expansion_radius: 2.0 - seen_radius: 1.0 - dt: 0.2 - ht: 7.0 - downsample_scale: 2 - graph_distance_threshold: 1.0 - graph_angle_threshold: 30.0 # degrees - - # rewind monitor (see rewind_monitor.cpp) - all_in_collision_duration_threshold: 2.0 - all_in_collision_rewind_duration: 6.0 - stationary_distance_threshold: 0.5 - stationary_history_duration: 10.0 - stationary_rewind_distance: 10.0 - stationary_rewind_duration: 20.0 diff --git a/robot/ros_ws/src/local/planners/droan_gl/config/half_sphere.dae b/robot/ros_ws/src/local/planners/droan_gl/config/half_sphere.dae deleted file mode 100644 index 9351aba32..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/config/half_sphere.dae +++ /dev/null @@ -1,866 +0,0 @@ - - - - - Blender User - Blender 2.82.7 - - 2025-09-22T11:13:38 - 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any person obtaining a -** copy of this software and/or associated documentation files (the -** "Materials"), to deal in the Materials without restriction, including -** without limitation the rights to use, copy, modify, merge, publish, -** distribute, sublicense, and/or sell copies of the Materials, and to -** permit persons to whom the Materials are furnished to do so, subject to -** the following conditions: -** -** The above copyright notice and this permission notice shall be included -** in all copies or substantial portions of the Materials. -** -** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF -** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. -** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY -** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, -** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE -** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. -*/ - -/* Khronos platform-specific types and definitions. - * - * The master copy of khrplatform.h is maintained in the Khronos EGL - * Registry repository at https://github.com/KhronosGroup/EGL-Registry - * The last semantic modification to khrplatform.h was at commit ID: - * 67a3e0864c2d75ea5287b9f3d2eb74a745936692 - * - * Adopters may modify this file to suit their platform. Adopters are - * encouraged to submit platform specific modifications to the Khronos - * group so that they can be included in future versions of this file. - * Please submit changes by filing pull requests or issues on - * the EGL Registry repository linked above. - * - * - * See the Implementer's Guidelines for information about where this file - * should be located on your system and for more details of its use: - * http://www.khronos.org/registry/implementers_guide.pdf - * - * This file should be included as - * #include - * by Khronos client API header files that use its types and defines. - * - * The types in khrplatform.h should only be used to define API-specific types. - * - * Types defined in khrplatform.h: - * khronos_int8_t signed 8 bit - * khronos_uint8_t unsigned 8 bit - * khronos_int16_t signed 16 bit - * khronos_uint16_t unsigned 16 bit - * khronos_int32_t signed 32 bit - * khronos_uint32_t unsigned 32 bit - * khronos_int64_t signed 64 bit - * khronos_uint64_t unsigned 64 bit - * khronos_intptr_t signed same number of bits as a pointer - * khronos_uintptr_t unsigned same number of bits as a pointer - * khronos_ssize_t signed size - * khronos_usize_t unsigned size - * khronos_float_t signed 32 bit floating point - * khronos_time_ns_t unsigned 64 bit time in nanoseconds - * khronos_utime_nanoseconds_t unsigned time interval or absolute time in - * nanoseconds - * khronos_stime_nanoseconds_t signed time interval in nanoseconds - * khronos_boolean_enum_t enumerated boolean type. This should - * only be used as a base type when a client API's boolean type is - * an enum. Client APIs which use an integer or other type for - * booleans cannot use this as the base type for their boolean. - * - * Tokens defined in khrplatform.h: - * - * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. - * - * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. - * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. - * - * Calling convention macros defined in this file: - * KHRONOS_APICALL - * KHRONOS_APIENTRY - * KHRONOS_APIATTRIBUTES - * - * These may be used in function prototypes as: - * - * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( - * int arg1, - * int arg2) KHRONOS_APIATTRIBUTES; - */ - -#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC) -#define KHRONOS_STATIC 1 -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APICALL - *------------------------------------------------------------------------- - * This precedes the return type of the function in the function prototype. - */ -#if defined(KHRONOS_STATIC) -/* If the preprocessor constant KHRONOS_STATIC is defined, make the - * header compatible with static linking. */ -#define KHRONOS_APICALL -#elif defined(_WIN32) -#define KHRONOS_APICALL __declspec(dllimport) -#elif defined(__SYMBIAN32__) -#define KHRONOS_APICALL IMPORT_C -#elif defined(__ANDROID__) -#define KHRONOS_APICALL __attribute__((visibility("default"))) -#else -#define KHRONOS_APICALL -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIENTRY - *------------------------------------------------------------------------- - * This follows the return type of the function and precedes the function - * name in the function prototype. - */ -#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) -/* Win32 but not WinCE */ -#define KHRONOS_APIENTRY __stdcall -#else -#define KHRONOS_APIENTRY -#endif - -/*------------------------------------------------------------------------- - * Definition of KHRONOS_APIATTRIBUTES - *------------------------------------------------------------------------- - * This follows the closing parenthesis of the function prototype arguments. - */ -#if defined(__ARMCC_2__) -#define KHRONOS_APIATTRIBUTES __softfp -#else -#define KHRONOS_APIATTRIBUTES -#endif - -/*------------------------------------------------------------------------- - * basic type definitions - *-----------------------------------------------------------------------*/ -#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 -/* - * To support platform where unsigned long cannot be used interchangeably with - * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t. - * Ideally, we could just use (u)intptr_t everywhere, but this could result in - * ABI breakage if khronos_uintptr_t is changed from unsigned long to - * unsigned long long or similar (this results in different C++ name mangling). - * To avoid changes for existing platforms, we restrict usage of intptr_t to - * platforms where the size of a pointer is larger than the size of long. - */ -#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__) -#if __SIZEOF_POINTER__ > __SIZEOF_LONG__ -#define KHRONOS_USE_INTPTR_T -#endif -#endif - -#elif defined(__VMS) || defined(__sgi) - -/* - * Using - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) - -/* - * Win32 - */ -typedef __int32 khronos_int32_t; -typedef unsigned __int32 khronos_uint32_t; -typedef __int64 khronos_int64_t; -typedef unsigned __int64 khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif defined(__sun__) || defined(__digital__) - -/* - * Sun or Digital - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#if defined(__arch64__) || defined(_LP64) -typedef long int khronos_int64_t; -typedef unsigned long int khronos_uint64_t; -#else -typedef long long int khronos_int64_t; -typedef unsigned long long int khronos_uint64_t; -#endif /* __arch64__ */ -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#elif 0 - -/* - * Hypothetical platform with no float or int64 support - */ -typedef int khronos_int32_t; -typedef unsigned int khronos_uint32_t; -#define KHRONOS_SUPPORT_INT64 0 -#define KHRONOS_SUPPORT_FLOAT 0 - -#else - -/* - * Generic fallback - */ -#include -typedef int32_t khronos_int32_t; -typedef uint32_t khronos_uint32_t; -typedef int64_t khronos_int64_t; -typedef uint64_t khronos_uint64_t; -#define KHRONOS_SUPPORT_INT64 1 -#define KHRONOS_SUPPORT_FLOAT 1 - -#endif - -/* - * Types that are (so far) the same on all platforms - */ -typedef signed char khronos_int8_t; -typedef unsigned char khronos_uint8_t; -typedef signed short int khronos_int16_t; -typedef unsigned short int khronos_uint16_t; - -/* - * Types that differ between LLP64 and LP64 architectures - in LLP64, - * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears - * to be the only LLP64 architecture in current use. - */ -#ifdef KHRONOS_USE_INTPTR_T -typedef intptr_t khronos_intptr_t; -typedef uintptr_t khronos_uintptr_t; -#elif defined(_WIN64) -typedef signed long long int khronos_intptr_t; -typedef unsigned long long int khronos_uintptr_t; -#else -typedef signed long int khronos_intptr_t; -typedef unsigned long int khronos_uintptr_t; -#endif - -#if defined(_WIN64) -typedef signed long long int khronos_ssize_t; -typedef unsigned long long int khronos_usize_t; -#else -typedef signed long int khronos_ssize_t; -typedef unsigned long int khronos_usize_t; -#endif - -#if KHRONOS_SUPPORT_FLOAT -/* - * Float type - */ -typedef float khronos_float_t; -#endif - -#if KHRONOS_SUPPORT_INT64 -/* Time types - * - * These types can be used to represent a time interval in nanoseconds or - * an absolute Unadjusted System Time. Unadjusted System Time is the number - * of nanoseconds since some arbitrary system event (e.g. since the last - * time the system booted). The Unadjusted System Time is an unsigned - * 64 bit value that wraps back to 0 every 584 years. Time intervals - * may be either signed or unsigned. - */ -typedef khronos_uint64_t khronos_utime_nanoseconds_t; -typedef khronos_int64_t khronos_stime_nanoseconds_t; -#endif - -/* - * Dummy value used to pad enum types to 32 bits. - */ -#ifndef KHRONOS_MAX_ENUM -#define KHRONOS_MAX_ENUM 0x7FFFFFFF -#endif - -/* - * Enumerated boolean type - * - * Values other than zero should be considered to be true. Therefore - * comparisons should not be made against KHRONOS_TRUE. - */ -typedef enum -{ - KHRONOS_FALSE = 0, - KHRONOS_TRUE = 1, - KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM -} khronos_boolean_enum_t; - -#endif /* __khrplatform_h_ */ diff --git a/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/gl_interface.hpp b/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/gl_interface.hpp deleted file mode 100644 index c223e8b05..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/gl_interface.hpp +++ /dev/null @@ -1,253 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -struct GraphNode -{ - int fg_index; - int bg_index; - tf2::Stamped tf; -}; - -struct alignas(16) Vec3 -{ - float x, y, z; -}; - -struct alignas(16) Vec4 -{ - float x, y, z, w; -}; - -struct alignas(16) State -{ - Vec3 pos; - Vec3 vel; - Vec3 acc; - Vec3 jerk; - Vec3 collision; - - State() {} - State(airstack_msgs::msg::Odometry odom) - { - pos.x = odom.pose.position.x; - pos.y = odom.pose.position.y; - pos.z = odom.pose.position.z; - - vel.x = odom.twist.linear.x; - vel.y = odom.twist.linear.y; - vel.z = odom.twist.linear.z; - - acc.x = odom.acceleration.x; - acc.y = odom.acceleration.y; - acc.z = odom.acceleration.z; - - jerk.x = odom.jerk.x; - jerk.y = odom.jerk.y; - jerk.z = odom.jerk.z; - } -}; - -struct TrajectoryParams -{ - float vel_desired[3]; - float vel_max; -}; - -struct alignas(16) CommonInit -{ - State initial_state; - // int traj_count; - // int traj_size; - // float dt; -}; - -struct mat4 -{ - float data[16]; - - mat4() - { - std::memset(&data[0], 0, sizeof(data)); - } - - mat4(const tf2::Stamped &stamped_tf) - { - // const tf2::Transform& tf = stamped_tf.getTransform(); - const tf2::Vector3 &t = stamped_tf.getOrigin(); - tf2::Matrix3x3 R = stamped_tf.getBasis(); - - data[0] = R[0][0]; - data[1] = R[1][0]; - data[2] = R[2][0]; - data[3] = 0.0f; - - data[4] = R[0][1]; - data[5] = R[1][1]; - data[6] = R[2][1]; - data[7] = 0.0f; - - data[8] = R[0][2]; - data[9] = R[1][2]; - data[10] = R[2][2]; - data[11] = 0.0f; - - data[12] = t.x(); - data[13] = t.y(); - data[14] = t.z(); - data[15] = 1.0f; - } - - mat4(const tf2::Transform &stamped_tf) - { - const tf2::Vector3 &t = stamped_tf.getOrigin(); - tf2::Matrix3x3 R = stamped_tf.getBasis(); - - data[0] = R[0][0]; - data[1] = R[1][0]; - data[2] = R[2][0]; - data[3] = 0.0f; - - data[4] = R[0][1]; - data[5] = R[1][1]; - data[6] = R[2][1]; - data[7] = 0.0f; - - data[8] = R[0][2]; - data[9] = R[1][2]; - data[10] = R[2][2]; - data[11] = 0.0f; - - data[12] = t.x(); - data[13] = t.y(); - data[14] = t.z(); - data[15] = 1.0f; - } -}; - -struct alignas(16) CollisionInfo -{ - mat4 state_tf; - float fx, fy, cx, cy; - float baseline; - int width, height; - int limit; - float scale; - float expansion_radius; - int graph_nodes; -}; - -struct alignas(16) TrajectoryPoint -{ - Vec4 v1, v2; - - float x() { return v1.x; } - float y() { return v1.y; } - float z() { return v1.z; } - float w() { return v1.w; } - - float get_vel() { return v2.w; } - - int get_collision() { return v2.x; } - int get_unseen() { return v2.y; } - int get_seen() { return v2.z; } -}; - -class GLInterface -{ -private: - rclcpp::Node *node; - tf2_ros::Buffer *tf_buffer; - - bool gl_inited; - - GLFWwindow *window_; - GLuint horizProg_, vertProg_; - float fx, fy, cx, cy, baseline; - int image_width, image_height; - int downsample_scale; - float scale; - float expansion_radius; - float seen_radius; - float graph_distance_threshold, graph_angle_threshold; - - int current_node, graph_nodes, total_layers; - - GLuint texIn, fgHoriz, bgHoriz, fgFinal, bgFinal; - - std::deque graph; - std::string target_frame; - - bool look_ahead_valid; - airstack_msgs::msg::Odometry look_ahead; - std::string look_ahead_frame; - std::vector traj_params; - float dt, ht; - GLuint traj_shader, collision_shader, traj_collision_shader; - GLuint common_ubo, collision_info_ubo; - GLuint params_ssbo, traj_ssbo, transform_ssbo; - - GLuint elapsed_query; - - vis::MarkerArray graph_markers; - -public: - GLInterface(rclcpp::Node *node, tf2_ros::Buffer *tf_buffer); - void handle_camera_info(const sensor_msgs::msg::CameraInfo::SharedPtr msg); - void handle_disparity(const stereo_msgs::msg::DisparityImage::SharedPtr msg); - void publish_viz(const std_msgs::msg::Header &hdr, - rclcpp::Publisher::SharedPtr fg_pub, - rclcpp::Publisher::SharedPtr bg_pub, - rclcpp::Publisher::SharedPtr fg_bg_cloud_pub, - rclcpp::Publisher::SharedPtr marker_pub); - void evaluate_trajectories(const airstack_msgs::msg::Odometry &look_ahead, std::vector &trajectory_points, tf2::Transform &look_ahead_to_target_tf); - - int get_traj_size(); - void check_gl_error(); - void gl_tic(); - float gl_toc(); - - void initGL(int original_width, int original_height, int downsampled_width, int downsampled_height); - GLuint createComputeShader(const std::string &file); -}; diff --git a/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/global_plan.hpp b/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/global_plan.hpp deleted file mode 100644 index 3d7b95540..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/global_plan.hpp +++ /dev/null @@ -1,63 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include - -class GlobalPlan -{ -private: - rclcpp::Node *node; - tf2_ros::Buffer *tf_buffer; - - std::string target_frame; - int current_global_plan_id, next_global_plan_id; - nav_msgs::msg::Path path; - Trajectory global_plan; - - bool update_global_plan(); - -public: - GlobalPlan(rclcpp::Node *node, tf2_ros::Buffer *tf_buffer); - void set_global_plan(const nav_msgs::msg::Path::SharedPtr msg); - void trim(const airstack_msgs::msg::Odometry &msg); - std::tuple get_distance(float x, float y, float z); - void publish_vis(rclcpp::Publisher::SharedPtr pub); - void apply_smooth_yaw(airstack_msgs::msg::TrajectoryXYZVYaw &best_traj_msg, const airstack_msgs::msg::Odometry look_ahead); -}; diff --git a/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/rewind_monitor.hpp b/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/rewind_monitor.hpp deleted file mode 100644 index c204cf581..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/include/droan_gl/rewind_monitor.hpp +++ /dev/null @@ -1,92 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -struct Rewind -{ - bool valid; - float start_time; - tf2::Vector3 start_position; - - float duration; - float distance; - - Rewind() - { - valid = false; - } -}; - -class RewindMonitor -{ -private: - rclcpp::Node *node; - - float all_in_collision_duration_threshold; - float all_in_collision_rewind_duration; - float all_in_collision_start_time; - - float stationary_distance_threshold; - float stationary_history_duration; - float stationary_rewind_distance, stationary_rewind_duration; - bool should_do_stationary_check; - float min_dt; - - Rewind rewind; - - std::deque> positions; - - visualization_msgs::msg::Marker clear, rewind_info_marker; - -public: - RewindMonitor(rclcpp::Node *node); - - void update_odom(const airstack_msgs::msg::Odometry::SharedPtr odom); - void do_stationary_check(bool b); - void found_trajectory(bool b); - void trigger_rewind(float duration, float distance = -1.f); - bool should_rewind(); - void clear_history(); - void publish_vis(rclcpp::Publisher::SharedPtr pub, std::string frame_id); -}; diff --git a/robot/ros_ws/src/local/planners/droan_gl/include/glad/glad.h b/robot/ros_ws/src/local/planners/droan_gl/include/glad/glad.h deleted file mode 100644 index 916b0a28d..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/include/glad/glad.h +++ /dev/null @@ -1,3695 +0,0 @@ -/* - - OpenGL loader generated by glad 0.1.36 on Thu Nov 6 15:37:11 2025. - - Language/Generator: C/C++ - Specification: gl - APIs: gl=4.6 - Profile: core - Extensions: - - Loader: True - Local files: False - Omit khrplatform: False - Reproducible: False - - Commandline: - --profile="core" --api="gl=4.6" --generator="c" --spec="gl" --extensions="" - Online: - https://glad.dav1d.de/#profile=core&language=c&specification=gl&loader=on&api=gl%3D4.6 -*/ - -#ifndef __glad_h_ -#define __glad_h_ - -#ifdef __gl_h_ -#error OpenGL header already included, remove this include, glad already provides it -#endif -#define __gl_h_ - -#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__) -#define APIENTRY __stdcall -#endif - -#ifndef APIENTRY -#define APIENTRY -#endif -#ifndef APIENTRYP -#define APIENTRYP APIENTRY * -#endif - -#ifndef GLAPIENTRY -#define GLAPIENTRY APIENTRY -#endif - -#ifdef __cplusplus -extern "C" -{ -#endif - - struct gladGLversionStruct - { - int major; - int minor; - }; - - typedef void *(*GLADloadproc)(const char *name); - -#ifndef GLAPI -#if defined(GLAD_GLAPI_EXPORT) -#if defined(_WIN32) || defined(__CYGWIN__) -#if defined(GLAD_GLAPI_EXPORT_BUILD) -#if defined(__GNUC__) -#define GLAPI __attribute__((dllexport)) extern -#else -#define GLAPI __declspec(dllexport) extern -#endif -#else -#if defined(__GNUC__) -#define GLAPI __attribute__((dllimport)) extern -#else -#define GLAPI __declspec(dllimport) extern -#endif -#endif -#elif defined(__GNUC__) && defined(GLAD_GLAPI_EXPORT_BUILD) -#define GLAPI __attribute__((visibility("default"))) extern -#else -#define GLAPI extern -#endif -#else -#define GLAPI extern -#endif -#endif - - GLAPI struct gladGLversionStruct GLVersion; - - GLAPI int gladLoadGL(void); - - GLAPI int gladLoadGLLoader(GLADloadproc); - -#include - typedef unsigned int GLenum; - typedef unsigned char GLboolean; - typedef unsigned int GLbitfield; - typedef void GLvoid; - typedef khronos_int8_t GLbyte; - typedef khronos_uint8_t GLubyte; - typedef khronos_int16_t GLshort; - typedef khronos_uint16_t GLushort; - typedef int GLint; - typedef unsigned int GLuint; - typedef khronos_int32_t GLclampx; - typedef int GLsizei; - typedef khronos_float_t GLfloat; - typedef khronos_float_t GLclampf; - typedef double GLdouble; - typedef double GLclampd; - typedef void *GLeglClientBufferEXT; - typedef void *GLeglImageOES; - typedef char GLchar; - typedef char GLcharARB; -#ifdef __APPLE__ - typedef void *GLhandleARB; -#else -typedef unsigned int GLhandleARB; -#endif - typedef khronos_uint16_t GLhalf; - typedef khronos_uint16_t GLhalfARB; - typedef khronos_int32_t GLfixed; - typedef khronos_intptr_t GLintptr; - typedef khronos_intptr_t GLintptrARB; - typedef khronos_ssize_t GLsizeiptr; - typedef khronos_ssize_t GLsizeiptrARB; - typedef khronos_int64_t GLint64; - typedef khronos_int64_t GLint64EXT; - typedef khronos_uint64_t GLuint64; - typedef khronos_uint64_t GLuint64EXT; - typedef struct __GLsync *GLsync; - struct _cl_context; - struct _cl_event; - typedef void(APIENTRY *GLDEBUGPROC)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam); - typedef void(APIENTRY *GLDEBUGPROCARB)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam); - typedef void(APIENTRY *GLDEBUGPROCKHR)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam); - typedef void(APIENTRY *GLDEBUGPROCAMD)(GLuint id, GLenum category, GLenum severity, GLsizei length, const GLchar *message, void *userParam); - typedef unsigned short GLhalfNV; - typedef GLintptr GLvdpauSurfaceNV; - typedef void(APIENTRY *GLVULKANPROCNV)(void); -#define GL_DEPTH_BUFFER_BIT 0x00000100 -#define GL_STENCIL_BUFFER_BIT 0x00000400 -#define GL_COLOR_BUFFER_BIT 0x00004000 -#define GL_FALSE 0 -#define GL_TRUE 1 -#define GL_POINTS 0x0000 -#define GL_LINES 0x0001 -#define GL_LINE_LOOP 0x0002 -#define GL_LINE_STRIP 0x0003 -#define GL_TRIANGLES 0x0004 -#define GL_TRIANGLE_STRIP 0x0005 -#define GL_TRIANGLE_FAN 0x0006 -#define GL_NEVER 0x0200 -#define GL_LESS 0x0201 -#define GL_EQUAL 0x0202 -#define GL_LEQUAL 0x0203 -#define GL_GREATER 0x0204 -#define GL_NOTEQUAL 0x0205 -#define GL_GEQUAL 0x0206 -#define GL_ALWAYS 0x0207 -#define GL_ZERO 0 -#define GL_ONE 1 -#define GL_SRC_COLOR 0x0300 -#define GL_ONE_MINUS_SRC_COLOR 0x0301 -#define GL_SRC_ALPHA 0x0302 -#define GL_ONE_MINUS_SRC_ALPHA 0x0303 -#define GL_DST_ALPHA 0x0304 -#define GL_ONE_MINUS_DST_ALPHA 0x0305 -#define GL_DST_COLOR 0x0306 -#define GL_ONE_MINUS_DST_COLOR 0x0307 -#define GL_SRC_ALPHA_SATURATE 0x0308 -#define GL_NONE 0 -#define GL_FRONT_LEFT 0x0400 -#define GL_FRONT_RIGHT 0x0401 -#define GL_BACK_LEFT 0x0402 -#define GL_BACK_RIGHT 0x0403 -#define GL_FRONT 0x0404 -#define GL_BACK 0x0405 -#define GL_LEFT 0x0406 -#define GL_RIGHT 0x0407 -#define GL_FRONT_AND_BACK 0x0408 -#define GL_NO_ERROR 0 -#define GL_INVALID_ENUM 0x0500 -#define GL_INVALID_VALUE 0x0501 -#define GL_INVALID_OPERATION 0x0502 -#define GL_OUT_OF_MEMORY 0x0505 -#define GL_CW 0x0900 -#define GL_CCW 0x0901 -#define GL_POINT_SIZE 0x0B11 -#define GL_POINT_SIZE_RANGE 0x0B12 -#define GL_POINT_SIZE_GRANULARITY 0x0B13 -#define GL_LINE_SMOOTH 0x0B20 -#define GL_LINE_WIDTH 0x0B21 -#define GL_LINE_WIDTH_RANGE 0x0B22 -#define GL_LINE_WIDTH_GRANULARITY 0x0B23 -#define GL_POLYGON_MODE 0x0B40 -#define GL_POLYGON_SMOOTH 0x0B41 -#define GL_CULL_FACE 0x0B44 -#define GL_CULL_FACE_MODE 0x0B45 -#define GL_FRONT_FACE 0x0B46 -#define GL_DEPTH_RANGE 0x0B70 -#define GL_DEPTH_TEST 0x0B71 -#define GL_DEPTH_WRITEMASK 0x0B72 -#define GL_DEPTH_CLEAR_VALUE 0x0B73 -#define GL_DEPTH_FUNC 0x0B74 -#define GL_STENCIL_TEST 0x0B90 -#define GL_STENCIL_CLEAR_VALUE 0x0B91 -#define GL_STENCIL_FUNC 0x0B92 -#define GL_STENCIL_VALUE_MASK 0x0B93 -#define GL_STENCIL_FAIL 0x0B94 -#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 -#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 -#define GL_STENCIL_REF 0x0B97 -#define GL_STENCIL_WRITEMASK 0x0B98 -#define GL_VIEWPORT 0x0BA2 -#define GL_DITHER 0x0BD0 -#define GL_BLEND_DST 0x0BE0 -#define GL_BLEND_SRC 0x0BE1 -#define GL_BLEND 0x0BE2 -#define GL_LOGIC_OP_MODE 0x0BF0 -#define GL_DRAW_BUFFER 0x0C01 -#define GL_READ_BUFFER 0x0C02 -#define GL_SCISSOR_BOX 0x0C10 -#define GL_SCISSOR_TEST 0x0C11 -#define GL_COLOR_CLEAR_VALUE 0x0C22 -#define GL_COLOR_WRITEMASK 0x0C23 -#define GL_DOUBLEBUFFER 0x0C32 -#define GL_STEREO 0x0C33 -#define GL_LINE_SMOOTH_HINT 0x0C52 -#define GL_POLYGON_SMOOTH_HINT 0x0C53 -#define GL_UNPACK_SWAP_BYTES 0x0CF0 -#define GL_UNPACK_LSB_FIRST 0x0CF1 -#define GL_UNPACK_ROW_LENGTH 0x0CF2 -#define GL_UNPACK_SKIP_ROWS 0x0CF3 -#define GL_UNPACK_SKIP_PIXELS 0x0CF4 -#define GL_UNPACK_ALIGNMENT 0x0CF5 -#define GL_PACK_SWAP_BYTES 0x0D00 -#define GL_PACK_LSB_FIRST 0x0D01 -#define GL_PACK_ROW_LENGTH 0x0D02 -#define GL_PACK_SKIP_ROWS 0x0D03 -#define GL_PACK_SKIP_PIXELS 0x0D04 -#define GL_PACK_ALIGNMENT 0x0D05 -#define GL_MAX_TEXTURE_SIZE 0x0D33 -#define GL_MAX_VIEWPORT_DIMS 0x0D3A -#define GL_SUBPIXEL_BITS 0x0D50 -#define GL_TEXTURE_1D 0x0DE0 -#define GL_TEXTURE_2D 0x0DE1 -#define GL_TEXTURE_WIDTH 0x1000 -#define GL_TEXTURE_HEIGHT 0x1001 -#define GL_TEXTURE_BORDER_COLOR 0x1004 -#define GL_DONT_CARE 0x1100 -#define GL_FASTEST 0x1101 -#define GL_NICEST 0x1102 -#define GL_BYTE 0x1400 -#define GL_UNSIGNED_BYTE 0x1401 -#define GL_SHORT 0x1402 -#define GL_UNSIGNED_SHORT 0x1403 -#define GL_INT 0x1404 -#define GL_UNSIGNED_INT 0x1405 -#define GL_FLOAT 0x1406 -#define GL_CLEAR 0x1500 -#define GL_AND 0x1501 -#define GL_AND_REVERSE 0x1502 -#define GL_COPY 0x1503 -#define GL_AND_INVERTED 0x1504 -#define GL_NOOP 0x1505 -#define GL_XOR 0x1506 -#define GL_OR 0x1507 -#define GL_NOR 0x1508 -#define GL_EQUIV 0x1509 -#define GL_INVERT 0x150A -#define GL_OR_REVERSE 0x150B -#define GL_COPY_INVERTED 0x150C -#define GL_OR_INVERTED 0x150D -#define GL_NAND 0x150E -#define GL_SET 0x150F -#define GL_TEXTURE 0x1702 -#define GL_COLOR 0x1800 -#define GL_DEPTH 0x1801 -#define GL_STENCIL 0x1802 -#define GL_STENCIL_INDEX 0x1901 -#define GL_DEPTH_COMPONENT 0x1902 -#define GL_RED 0x1903 -#define GL_GREEN 0x1904 -#define GL_BLUE 0x1905 -#define GL_ALPHA 0x1906 -#define GL_RGB 0x1907 -#define GL_RGBA 0x1908 -#define GL_POINT 0x1B00 -#define GL_LINE 0x1B01 -#define GL_FILL 0x1B02 -#define GL_KEEP 0x1E00 -#define GL_REPLACE 0x1E01 -#define GL_INCR 0x1E02 -#define GL_DECR 0x1E03 -#define GL_VENDOR 0x1F00 -#define GL_RENDERER 0x1F01 -#define GL_VERSION 0x1F02 -#define GL_EXTENSIONS 0x1F03 -#define GL_NEAREST 0x2600 -#define GL_LINEAR 0x2601 -#define GL_NEAREST_MIPMAP_NEAREST 0x2700 -#define GL_LINEAR_MIPMAP_NEAREST 0x2701 -#define GL_NEAREST_MIPMAP_LINEAR 0x2702 -#define GL_LINEAR_MIPMAP_LINEAR 0x2703 -#define GL_TEXTURE_MAG_FILTER 0x2800 -#define GL_TEXTURE_MIN_FILTER 0x2801 -#define GL_TEXTURE_WRAP_S 0x2802 -#define GL_TEXTURE_WRAP_T 0x2803 -#define GL_REPEAT 0x2901 -#define GL_COLOR_LOGIC_OP 0x0BF2 -#define GL_POLYGON_OFFSET_UNITS 0x2A00 -#define GL_POLYGON_OFFSET_POINT 0x2A01 -#define GL_POLYGON_OFFSET_LINE 0x2A02 -#define GL_POLYGON_OFFSET_FILL 0x8037 -#define GL_POLYGON_OFFSET_FACTOR 0x8038 -#define GL_TEXTURE_BINDING_1D 0x8068 -#define GL_TEXTURE_BINDING_2D 0x8069 -#define GL_TEXTURE_INTERNAL_FORMAT 0x1003 -#define GL_TEXTURE_RED_SIZE 0x805C -#define GL_TEXTURE_GREEN_SIZE 0x805D -#define GL_TEXTURE_BLUE_SIZE 0x805E -#define GL_TEXTURE_ALPHA_SIZE 0x805F -#define GL_DOUBLE 0x140A -#define GL_PROXY_TEXTURE_1D 0x8063 -#define GL_PROXY_TEXTURE_2D 0x8064 -#define GL_R3_G3_B2 0x2A10 -#define GL_RGB4 0x804F -#define GL_RGB5 0x8050 -#define GL_RGB8 0x8051 -#define GL_RGB10 0x8052 -#define GL_RGB12 0x8053 -#define GL_RGB16 0x8054 -#define GL_RGBA2 0x8055 -#define GL_RGBA4 0x8056 -#define GL_RGB5_A1 0x8057 -#define GL_RGBA8 0x8058 -#define GL_RGB10_A2 0x8059 -#define GL_RGBA12 0x805A -#define GL_RGBA16 0x805B -#define GL_UNSIGNED_BYTE_3_3_2 0x8032 -#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 -#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 -#define GL_UNSIGNED_INT_8_8_8_8 0x8035 -#define GL_UNSIGNED_INT_10_10_10_2 0x8036 -#define GL_TEXTURE_BINDING_3D 0x806A -#define GL_PACK_SKIP_IMAGES 0x806B -#define GL_PACK_IMAGE_HEIGHT 0x806C -#define GL_UNPACK_SKIP_IMAGES 0x806D -#define GL_UNPACK_IMAGE_HEIGHT 0x806E -#define GL_TEXTURE_3D 0x806F -#define GL_PROXY_TEXTURE_3D 0x8070 -#define GL_TEXTURE_DEPTH 0x8071 -#define GL_TEXTURE_WRAP_R 0x8072 -#define GL_MAX_3D_TEXTURE_SIZE 0x8073 -#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 -#define GL_UNSIGNED_SHORT_5_6_5 0x8363 -#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 -#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 -#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 -#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 -#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 -#define GL_BGR 0x80E0 -#define GL_BGRA 0x80E1 -#define GL_MAX_ELEMENTS_VERTICES 0x80E8 -#define GL_MAX_ELEMENTS_INDICES 0x80E9 -#define GL_CLAMP_TO_EDGE 0x812F -#define GL_TEXTURE_MIN_LOD 0x813A -#define GL_TEXTURE_MAX_LOD 0x813B -#define GL_TEXTURE_BASE_LEVEL 0x813C -#define GL_TEXTURE_MAX_LEVEL 0x813D -#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 -#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 -#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 -#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 -#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E -#define GL_TEXTURE0 0x84C0 -#define GL_TEXTURE1 0x84C1 -#define GL_TEXTURE2 0x84C2 -#define GL_TEXTURE3 0x84C3 -#define GL_TEXTURE4 0x84C4 -#define GL_TEXTURE5 0x84C5 -#define GL_TEXTURE6 0x84C6 -#define GL_TEXTURE7 0x84C7 -#define GL_TEXTURE8 0x84C8 -#define GL_TEXTURE9 0x84C9 -#define GL_TEXTURE10 0x84CA -#define GL_TEXTURE11 0x84CB -#define GL_TEXTURE12 0x84CC -#define GL_TEXTURE13 0x84CD -#define GL_TEXTURE14 0x84CE -#define GL_TEXTURE15 0x84CF -#define GL_TEXTURE16 0x84D0 -#define GL_TEXTURE17 0x84D1 -#define GL_TEXTURE18 0x84D2 -#define GL_TEXTURE19 0x84D3 -#define GL_TEXTURE20 0x84D4 -#define GL_TEXTURE21 0x84D5 -#define GL_TEXTURE22 0x84D6 -#define GL_TEXTURE23 0x84D7 -#define GL_TEXTURE24 0x84D8 -#define GL_TEXTURE25 0x84D9 -#define GL_TEXTURE26 0x84DA -#define GL_TEXTURE27 0x84DB -#define GL_TEXTURE28 0x84DC -#define GL_TEXTURE29 0x84DD -#define GL_TEXTURE30 0x84DE -#define GL_TEXTURE31 0x84DF -#define GL_ACTIVE_TEXTURE 0x84E0 -#define GL_MULTISAMPLE 0x809D -#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E -#define GL_SAMPLE_ALPHA_TO_ONE 0x809F -#define GL_SAMPLE_COVERAGE 0x80A0 -#define GL_SAMPLE_BUFFERS 0x80A8 -#define GL_SAMPLES 0x80A9 -#define GL_SAMPLE_COVERAGE_VALUE 0x80AA -#define GL_SAMPLE_COVERAGE_INVERT 0x80AB -#define GL_TEXTURE_CUBE_MAP 0x8513 -#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 -#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 -#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A -#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B -#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C -#define GL_COMPRESSED_RGB 0x84ED -#define GL_COMPRESSED_RGBA 0x84EE -#define GL_TEXTURE_COMPRESSION_HINT 0x84EF -#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0 -#define GL_TEXTURE_COMPRESSED 0x86A1 -#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 -#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 -#define GL_CLAMP_TO_BORDER 0x812D -#define GL_BLEND_DST_RGB 0x80C8 -#define GL_BLEND_SRC_RGB 0x80C9 -#define GL_BLEND_DST_ALPHA 0x80CA -#define GL_BLEND_SRC_ALPHA 0x80CB -#define GL_POINT_FADE_THRESHOLD_SIZE 0x8128 -#define GL_DEPTH_COMPONENT16 0x81A5 -#define GL_DEPTH_COMPONENT24 0x81A6 -#define GL_DEPTH_COMPONENT32 0x81A7 -#define GL_MIRRORED_REPEAT 0x8370 -#define GL_MAX_TEXTURE_LOD_BIAS 0x84FD -#define GL_TEXTURE_LOD_BIAS 0x8501 -#define GL_INCR_WRAP 0x8507 -#define GL_DECR_WRAP 0x8508 -#define GL_TEXTURE_DEPTH_SIZE 0x884A -#define GL_TEXTURE_COMPARE_MODE 0x884C -#define GL_TEXTURE_COMPARE_FUNC 0x884D -#define GL_BLEND_COLOR 0x8005 -#define GL_BLEND_EQUATION 0x8009 -#define GL_CONSTANT_COLOR 0x8001 -#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 -#define GL_CONSTANT_ALPHA 0x8003 -#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 -#define GL_FUNC_ADD 0x8006 -#define GL_FUNC_REVERSE_SUBTRACT 0x800B -#define GL_FUNC_SUBTRACT 0x800A -#define GL_MIN 0x8007 -#define GL_MAX 0x8008 -#define GL_BUFFER_SIZE 0x8764 -#define GL_BUFFER_USAGE 0x8765 -#define GL_QUERY_COUNTER_BITS 0x8864 -#define GL_CURRENT_QUERY 0x8865 -#define GL_QUERY_RESULT 0x8866 -#define GL_QUERY_RESULT_AVAILABLE 0x8867 -#define GL_ARRAY_BUFFER 0x8892 -#define GL_ELEMENT_ARRAY_BUFFER 0x8893 -#define GL_ARRAY_BUFFER_BINDING 0x8894 -#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895 -#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F -#define GL_READ_ONLY 0x88B8 -#define GL_WRITE_ONLY 0x88B9 -#define GL_READ_WRITE 0x88BA -#define GL_BUFFER_ACCESS 0x88BB -#define GL_BUFFER_MAPPED 0x88BC -#define GL_BUFFER_MAP_POINTER 0x88BD -#define GL_STREAM_DRAW 0x88E0 -#define GL_STREAM_READ 0x88E1 -#define GL_STREAM_COPY 0x88E2 -#define GL_STATIC_DRAW 0x88E4 -#define GL_STATIC_READ 0x88E5 -#define GL_STATIC_COPY 0x88E6 -#define GL_DYNAMIC_DRAW 0x88E8 -#define GL_DYNAMIC_READ 0x88E9 -#define GL_DYNAMIC_COPY 0x88EA -#define GL_SAMPLES_PASSED 0x8914 -#define GL_SRC1_ALPHA 0x8589 -#define GL_BLEND_EQUATION_RGB 0x8009 -#define GL_VERTEX_ATTRIB_ARRAY_ENABLED 0x8622 -#define GL_VERTEX_ATTRIB_ARRAY_SIZE 0x8623 -#define GL_VERTEX_ATTRIB_ARRAY_STRIDE 0x8624 -#define GL_VERTEX_ATTRIB_ARRAY_TYPE 0x8625 -#define GL_CURRENT_VERTEX_ATTRIB 0x8626 -#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642 -#define GL_VERTEX_ATTRIB_ARRAY_POINTER 0x8645 -#define GL_STENCIL_BACK_FUNC 0x8800 -#define GL_STENCIL_BACK_FAIL 0x8801 -#define GL_STENCIL_BACK_PASS_DEPTH_FAIL 0x8802 -#define GL_STENCIL_BACK_PASS_DEPTH_PASS 0x8803 -#define GL_MAX_DRAW_BUFFERS 0x8824 -#define GL_DRAW_BUFFER0 0x8825 -#define GL_DRAW_BUFFER1 0x8826 -#define GL_DRAW_BUFFER2 0x8827 -#define GL_DRAW_BUFFER3 0x8828 -#define GL_DRAW_BUFFER4 0x8829 -#define GL_DRAW_BUFFER5 0x882A -#define GL_DRAW_BUFFER6 0x882B -#define GL_DRAW_BUFFER7 0x882C -#define GL_DRAW_BUFFER8 0x882D -#define GL_DRAW_BUFFER9 0x882E -#define GL_DRAW_BUFFER10 0x882F -#define GL_DRAW_BUFFER11 0x8830 -#define GL_DRAW_BUFFER12 0x8831 -#define GL_DRAW_BUFFER13 0x8832 -#define GL_DRAW_BUFFER14 0x8833 -#define GL_DRAW_BUFFER15 0x8834 -#define GL_BLEND_EQUATION_ALPHA 0x883D -#define GL_MAX_VERTEX_ATTRIBS 0x8869 -#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A -#define GL_MAX_TEXTURE_IMAGE_UNITS 0x8872 -#define GL_FRAGMENT_SHADER 0x8B30 -#define GL_VERTEX_SHADER 0x8B31 -#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS 0x8B49 -#define GL_MAX_VERTEX_UNIFORM_COMPONENTS 0x8B4A -#define GL_MAX_VARYING_FLOATS 0x8B4B -#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS 0x8B4C -#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS 0x8B4D -#define GL_SHADER_TYPE 0x8B4F -#define GL_FLOAT_VEC2 0x8B50 -#define GL_FLOAT_VEC3 0x8B51 -#define GL_FLOAT_VEC4 0x8B52 -#define GL_INT_VEC2 0x8B53 -#define GL_INT_VEC3 0x8B54 -#define GL_INT_VEC4 0x8B55 -#define GL_BOOL 0x8B56 -#define GL_BOOL_VEC2 0x8B57 -#define GL_BOOL_VEC3 0x8B58 -#define GL_BOOL_VEC4 0x8B59 -#define GL_FLOAT_MAT2 0x8B5A -#define GL_FLOAT_MAT3 0x8B5B -#define GL_FLOAT_MAT4 0x8B5C -#define GL_SAMPLER_1D 0x8B5D -#define GL_SAMPLER_2D 0x8B5E -#define GL_SAMPLER_3D 0x8B5F -#define GL_SAMPLER_CUBE 0x8B60 -#define GL_SAMPLER_1D_SHADOW 0x8B61 -#define GL_SAMPLER_2D_SHADOW 0x8B62 -#define GL_DELETE_STATUS 0x8B80 -#define GL_COMPILE_STATUS 0x8B81 -#define GL_LINK_STATUS 0x8B82 -#define GL_VALIDATE_STATUS 0x8B83 -#define GL_INFO_LOG_LENGTH 0x8B84 -#define GL_ATTACHED_SHADERS 0x8B85 -#define GL_ACTIVE_UNIFORMS 0x8B86 -#define GL_ACTIVE_UNIFORM_MAX_LENGTH 0x8B87 -#define GL_SHADER_SOURCE_LENGTH 0x8B88 -#define GL_ACTIVE_ATTRIBUTES 0x8B89 -#define GL_ACTIVE_ATTRIBUTE_MAX_LENGTH 0x8B8A -#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT 0x8B8B -#define GL_SHADING_LANGUAGE_VERSION 0x8B8C -#define GL_CURRENT_PROGRAM 0x8B8D -#define GL_POINT_SPRITE_COORD_ORIGIN 0x8CA0 -#define GL_LOWER_LEFT 0x8CA1 -#define GL_UPPER_LEFT 0x8CA2 -#define GL_STENCIL_BACK_REF 0x8CA3 -#define GL_STENCIL_BACK_VALUE_MASK 0x8CA4 -#define GL_STENCIL_BACK_WRITEMASK 0x8CA5 -#define GL_PIXEL_PACK_BUFFER 0x88EB -#define GL_PIXEL_UNPACK_BUFFER 0x88EC -#define GL_PIXEL_PACK_BUFFER_BINDING 0x88ED -#define GL_PIXEL_UNPACK_BUFFER_BINDING 0x88EF -#define GL_FLOAT_MAT2x3 0x8B65 -#define GL_FLOAT_MAT2x4 0x8B66 -#define GL_FLOAT_MAT3x2 0x8B67 -#define GL_FLOAT_MAT3x4 0x8B68 -#define GL_FLOAT_MAT4x2 0x8B69 -#define GL_FLOAT_MAT4x3 0x8B6A -#define GL_SRGB 0x8C40 -#define GL_SRGB8 0x8C41 -#define GL_SRGB_ALPHA 0x8C42 -#define GL_SRGB8_ALPHA8 0x8C43 -#define GL_COMPRESSED_SRGB 0x8C48 -#define GL_COMPRESSED_SRGB_ALPHA 0x8C49 -#define GL_COMPARE_REF_TO_TEXTURE 0x884E -#define GL_CLIP_DISTANCE0 0x3000 -#define GL_CLIP_DISTANCE1 0x3001 -#define GL_CLIP_DISTANCE2 0x3002 -#define GL_CLIP_DISTANCE3 0x3003 -#define GL_CLIP_DISTANCE4 0x3004 -#define GL_CLIP_DISTANCE5 0x3005 -#define GL_CLIP_DISTANCE6 0x3006 -#define GL_CLIP_DISTANCE7 0x3007 -#define GL_MAX_CLIP_DISTANCES 0x0D32 -#define GL_MAJOR_VERSION 0x821B -#define GL_MINOR_VERSION 0x821C -#define GL_NUM_EXTENSIONS 0x821D -#define GL_CONTEXT_FLAGS 0x821E -#define GL_COMPRESSED_RED 0x8225 -#define GL_COMPRESSED_RG 0x8226 -#define GL_CONTEXT_FLAG_FORWARD_COMPATIBLE_BIT 0x00000001 -#define GL_RGBA32F 0x8814 -#define GL_RGB32F 0x8815 -#define GL_RGBA16F 0x881A -#define GL_RGB16F 0x881B -#define GL_VERTEX_ATTRIB_ARRAY_INTEGER 0x88FD -#define GL_MAX_ARRAY_TEXTURE_LAYERS 0x88FF -#define GL_MIN_PROGRAM_TEXEL_OFFSET 0x8904 -#define GL_MAX_PROGRAM_TEXEL_OFFSET 0x8905 -#define GL_CLAMP_READ_COLOR 0x891C -#define GL_FIXED_ONLY 0x891D -#define GL_MAX_VARYING_COMPONENTS 0x8B4B -#define GL_TEXTURE_1D_ARRAY 0x8C18 -#define GL_PROXY_TEXTURE_1D_ARRAY 0x8C19 -#define GL_TEXTURE_2D_ARRAY 0x8C1A -#define GL_PROXY_TEXTURE_2D_ARRAY 0x8C1B -#define GL_TEXTURE_BINDING_1D_ARRAY 0x8C1C -#define GL_TEXTURE_BINDING_2D_ARRAY 0x8C1D -#define GL_R11F_G11F_B10F 0x8C3A -#define GL_UNSIGNED_INT_10F_11F_11F_REV 0x8C3B -#define GL_RGB9_E5 0x8C3D -#define GL_UNSIGNED_INT_5_9_9_9_REV 0x8C3E -#define GL_TEXTURE_SHARED_SIZE 0x8C3F -#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH 0x8C76 -#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE 0x8C7F -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS 0x8C80 -#define GL_TRANSFORM_FEEDBACK_VARYINGS 0x8C83 -#define GL_TRANSFORM_FEEDBACK_BUFFER_START 0x8C84 -#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE 0x8C85 -#define GL_PRIMITIVES_GENERATED 0x8C87 -#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN 0x8C88 -#define GL_RASTERIZER_DISCARD 0x8C89 -#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS 0x8C8A -#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS 0x8C8B -#define GL_INTERLEAVED_ATTRIBS 0x8C8C -#define GL_SEPARATE_ATTRIBS 0x8C8D -#define GL_TRANSFORM_FEEDBACK_BUFFER 0x8C8E -#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING 0x8C8F -#define GL_RGBA32UI 0x8D70 -#define GL_RGB32UI 0x8D71 -#define GL_RGBA16UI 0x8D76 -#define GL_RGB16UI 0x8D77 -#define GL_RGBA8UI 0x8D7C -#define GL_RGB8UI 0x8D7D -#define GL_RGBA32I 0x8D82 -#define GL_RGB32I 0x8D83 -#define GL_RGBA16I 0x8D88 -#define GL_RGB16I 0x8D89 -#define GL_RGBA8I 0x8D8E -#define GL_RGB8I 0x8D8F -#define GL_RED_INTEGER 0x8D94 -#define GL_GREEN_INTEGER 0x8D95 -#define GL_BLUE_INTEGER 0x8D96 -#define GL_RGB_INTEGER 0x8D98 -#define GL_RGBA_INTEGER 0x8D99 -#define GL_BGR_INTEGER 0x8D9A -#define GL_BGRA_INTEGER 0x8D9B -#define GL_SAMPLER_1D_ARRAY 0x8DC0 -#define GL_SAMPLER_2D_ARRAY 0x8DC1 -#define GL_SAMPLER_1D_ARRAY_SHADOW 0x8DC3 -#define GL_SAMPLER_2D_ARRAY_SHADOW 0x8DC4 -#define GL_SAMPLER_CUBE_SHADOW 0x8DC5 -#define GL_UNSIGNED_INT_VEC2 0x8DC6 -#define GL_UNSIGNED_INT_VEC3 0x8DC7 -#define GL_UNSIGNED_INT_VEC4 0x8DC8 -#define GL_INT_SAMPLER_1D 0x8DC9 -#define GL_INT_SAMPLER_2D 0x8DCA -#define GL_INT_SAMPLER_3D 0x8DCB -#define GL_INT_SAMPLER_CUBE 0x8DCC -#define GL_INT_SAMPLER_1D_ARRAY 0x8DCE -#define GL_INT_SAMPLER_2D_ARRAY 0x8DCF -#define GL_UNSIGNED_INT_SAMPLER_1D 0x8DD1 -#define GL_UNSIGNED_INT_SAMPLER_2D 0x8DD2 -#define GL_UNSIGNED_INT_SAMPLER_3D 0x8DD3 -#define GL_UNSIGNED_INT_SAMPLER_CUBE 0x8DD4 -#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY 0x8DD6 -#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY 0x8DD7 -#define GL_QUERY_WAIT 0x8E13 -#define GL_QUERY_NO_WAIT 0x8E14 -#define GL_QUERY_BY_REGION_WAIT 0x8E15 -#define GL_QUERY_BY_REGION_NO_WAIT 0x8E16 -#define GL_BUFFER_ACCESS_FLAGS 0x911F -#define GL_BUFFER_MAP_LENGTH 0x9120 -#define GL_BUFFER_MAP_OFFSET 0x9121 -#define GL_DEPTH_COMPONENT32F 0x8CAC -#define GL_DEPTH32F_STENCIL8 0x8CAD -#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD -#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506 -#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210 -#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211 -#define GL_FRAMEBUFFER_ATTACHMENT_RED_SIZE 0x8212 -#define GL_FRAMEBUFFER_ATTACHMENT_GREEN_SIZE 0x8213 -#define GL_FRAMEBUFFER_ATTACHMENT_BLUE_SIZE 0x8214 -#define GL_FRAMEBUFFER_ATTACHMENT_ALPHA_SIZE 0x8215 -#define GL_FRAMEBUFFER_ATTACHMENT_DEPTH_SIZE 0x8216 -#define GL_FRAMEBUFFER_ATTACHMENT_STENCIL_SIZE 0x8217 -#define GL_FRAMEBUFFER_DEFAULT 0x8218 -#define GL_FRAMEBUFFER_UNDEFINED 0x8219 -#define GL_DEPTH_STENCIL_ATTACHMENT 0x821A -#define GL_MAX_RENDERBUFFER_SIZE 0x84E8 -#define GL_DEPTH_STENCIL 0x84F9 -#define GL_UNSIGNED_INT_24_8 0x84FA -#define GL_DEPTH24_STENCIL8 0x88F0 -#define GL_TEXTURE_STENCIL_SIZE 0x88F1 -#define GL_TEXTURE_RED_TYPE 0x8C10 -#define GL_TEXTURE_GREEN_TYPE 0x8C11 -#define GL_TEXTURE_BLUE_TYPE 0x8C12 -#define GL_TEXTURE_ALPHA_TYPE 0x8C13 -#define GL_TEXTURE_DEPTH_TYPE 0x8C16 -#define GL_UNSIGNED_NORMALIZED 0x8C17 -#define GL_FRAMEBUFFER_BINDING 0x8CA6 -#define GL_DRAW_FRAMEBUFFER_BINDING 0x8CA6 -#define GL_RENDERBUFFER_BINDING 0x8CA7 -#define GL_READ_FRAMEBUFFER 0x8CA8 -#define GL_DRAW_FRAMEBUFFER 0x8CA9 -#define GL_READ_FRAMEBUFFER_BINDING 0x8CAA -#define GL_RENDERBUFFER_SAMPLES 0x8CAB -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0 -#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3 -#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER 0x8CD4 -#define GL_FRAMEBUFFER_COMPLETE 0x8CD5 -#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6 -#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7 -#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER 0x8CDB -#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER 0x8CDC -#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD -#define GL_MAX_COLOR_ATTACHMENTS 0x8CDF -#define GL_COLOR_ATTACHMENT0 0x8CE0 -#define GL_COLOR_ATTACHMENT1 0x8CE1 -#define GL_COLOR_ATTACHMENT2 0x8CE2 -#define GL_COLOR_ATTACHMENT3 0x8CE3 -#define GL_COLOR_ATTACHMENT4 0x8CE4 -#define GL_COLOR_ATTACHMENT5 0x8CE5 -#define GL_COLOR_ATTACHMENT6 0x8CE6 -#define GL_COLOR_ATTACHMENT7 0x8CE7 -#define GL_COLOR_ATTACHMENT8 0x8CE8 -#define GL_COLOR_ATTACHMENT9 0x8CE9 -#define GL_COLOR_ATTACHMENT10 0x8CEA -#define GL_COLOR_ATTACHMENT11 0x8CEB -#define GL_COLOR_ATTACHMENT12 0x8CEC -#define GL_COLOR_ATTACHMENT13 0x8CED -#define GL_COLOR_ATTACHMENT14 0x8CEE -#define GL_COLOR_ATTACHMENT15 0x8CEF -#define GL_COLOR_ATTACHMENT16 0x8CF0 -#define GL_COLOR_ATTACHMENT17 0x8CF1 -#define GL_COLOR_ATTACHMENT18 0x8CF2 -#define GL_COLOR_ATTACHMENT19 0x8CF3 -#define GL_COLOR_ATTACHMENT20 0x8CF4 -#define GL_COLOR_ATTACHMENT21 0x8CF5 -#define GL_COLOR_ATTACHMENT22 0x8CF6 -#define GL_COLOR_ATTACHMENT23 0x8CF7 -#define GL_COLOR_ATTACHMENT24 0x8CF8 -#define GL_COLOR_ATTACHMENT25 0x8CF9 -#define GL_COLOR_ATTACHMENT26 0x8CFA -#define GL_COLOR_ATTACHMENT27 0x8CFB -#define GL_COLOR_ATTACHMENT28 0x8CFC -#define GL_COLOR_ATTACHMENT29 0x8CFD -#define GL_COLOR_ATTACHMENT30 0x8CFE -#define GL_COLOR_ATTACHMENT31 0x8CFF -#define GL_DEPTH_ATTACHMENT 0x8D00 -#define GL_STENCIL_ATTACHMENT 0x8D20 -#define GL_FRAMEBUFFER 0x8D40 -#define GL_RENDERBUFFER 0x8D41 -#define GL_RENDERBUFFER_WIDTH 0x8D42 -#define GL_RENDERBUFFER_HEIGHT 0x8D43 -#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44 -#define GL_STENCIL_INDEX1 0x8D46 -#define GL_STENCIL_INDEX4 0x8D47 -#define GL_STENCIL_INDEX8 0x8D48 -#define GL_STENCIL_INDEX16 0x8D49 -#define GL_RENDERBUFFER_RED_SIZE 0x8D50 -#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51 -#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52 -#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53 -#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54 -#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55 -#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE 0x8D56 -#define GL_MAX_SAMPLES 0x8D57 -#define GL_FRAMEBUFFER_SRGB 0x8DB9 -#define GL_HALF_FLOAT 0x140B -#define GL_MAP_READ_BIT 0x0001 -#define GL_MAP_WRITE_BIT 0x0002 -#define GL_MAP_INVALIDATE_RANGE_BIT 0x0004 -#define GL_MAP_INVALIDATE_BUFFER_BIT 0x0008 -#define GL_MAP_FLUSH_EXPLICIT_BIT 0x0010 -#define GL_MAP_UNSYNCHRONIZED_BIT 0x0020 -#define GL_COMPRESSED_RED_RGTC1 0x8DBB -#define GL_COMPRESSED_SIGNED_RED_RGTC1 0x8DBC -#define GL_COMPRESSED_RG_RGTC2 0x8DBD -#define GL_COMPRESSED_SIGNED_RG_RGTC2 0x8DBE -#define GL_RG 0x8227 -#define GL_RG_INTEGER 0x8228 -#define GL_R8 0x8229 -#define GL_R16 0x822A -#define GL_RG8 0x822B -#define GL_RG16 0x822C -#define GL_R16F 0x822D -#define GL_R32F 0x822E -#define GL_RG16F 0x822F -#define GL_RG32F 0x8230 -#define GL_R8I 0x8231 -#define GL_R8UI 0x8232 -#define GL_R16I 0x8233 -#define GL_R16UI 0x8234 -#define GL_R32I 0x8235 -#define GL_R32UI 0x8236 -#define GL_RG8I 0x8237 -#define GL_RG8UI 0x8238 -#define GL_RG16I 0x8239 -#define GL_RG16UI 0x823A -#define GL_RG32I 0x823B -#define GL_RG32UI 0x823C -#define GL_VERTEX_ARRAY_BINDING 0x85B5 -#define GL_SAMPLER_2D_RECT 0x8B63 -#define GL_SAMPLER_2D_RECT_SHADOW 0x8B64 -#define GL_SAMPLER_BUFFER 0x8DC2 -#define GL_INT_SAMPLER_2D_RECT 0x8DCD -#define GL_INT_SAMPLER_BUFFER 0x8DD0 -#define GL_UNSIGNED_INT_SAMPLER_2D_RECT 0x8DD5 -#define GL_UNSIGNED_INT_SAMPLER_BUFFER 0x8DD8 -#define GL_TEXTURE_BUFFER 0x8C2A -#define GL_MAX_TEXTURE_BUFFER_SIZE 0x8C2B -#define GL_TEXTURE_BINDING_BUFFER 0x8C2C -#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING 0x8C2D -#define GL_TEXTURE_RECTANGLE 0x84F5 -#define GL_TEXTURE_BINDING_RECTANGLE 0x84F6 -#define GL_PROXY_TEXTURE_RECTANGLE 0x84F7 -#define GL_MAX_RECTANGLE_TEXTURE_SIZE 0x84F8 -#define GL_R8_SNORM 0x8F94 -#define GL_RG8_SNORM 0x8F95 -#define GL_RGB8_SNORM 0x8F96 -#define GL_RGBA8_SNORM 0x8F97 -#define GL_R16_SNORM 0x8F98 -#define GL_RG16_SNORM 0x8F99 -#define GL_RGB16_SNORM 0x8F9A -#define GL_RGBA16_SNORM 0x8F9B -#define GL_SIGNED_NORMALIZED 0x8F9C -#define GL_PRIMITIVE_RESTART 0x8F9D -#define GL_PRIMITIVE_RESTART_INDEX 0x8F9E -#define GL_COPY_READ_BUFFER 0x8F36 -#define GL_COPY_WRITE_BUFFER 0x8F37 -#define GL_UNIFORM_BUFFER 0x8A11 -#define GL_UNIFORM_BUFFER_BINDING 0x8A28 -#define GL_UNIFORM_BUFFER_START 0x8A29 -#define GL_UNIFORM_BUFFER_SIZE 0x8A2A -#define GL_MAX_VERTEX_UNIFORM_BLOCKS 0x8A2B -#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS 0x8A2C -#define GL_MAX_FRAGMENT_UNIFORM_BLOCKS 0x8A2D -#define GL_MAX_COMBINED_UNIFORM_BLOCKS 0x8A2E -#define GL_MAX_UNIFORM_BUFFER_BINDINGS 0x8A2F -#define GL_MAX_UNIFORM_BLOCK_SIZE 0x8A30 -#define GL_MAX_COMBINED_VERTEX_UNIFORM_COMPONENTS 0x8A31 -#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS 0x8A32 -#define GL_MAX_COMBINED_FRAGMENT_UNIFORM_COMPONENTS 0x8A33 -#define GL_UNIFORM_BUFFER_OFFSET_ALIGNMENT 0x8A34 -#define GL_ACTIVE_UNIFORM_BLOCK_MAX_NAME_LENGTH 0x8A35 -#define GL_ACTIVE_UNIFORM_BLOCKS 0x8A36 -#define GL_UNIFORM_TYPE 0x8A37 -#define GL_UNIFORM_SIZE 0x8A38 -#define GL_UNIFORM_NAME_LENGTH 0x8A39 -#define GL_UNIFORM_BLOCK_INDEX 0x8A3A -#define GL_UNIFORM_OFFSET 0x8A3B -#define GL_UNIFORM_ARRAY_STRIDE 0x8A3C -#define GL_UNIFORM_MATRIX_STRIDE 0x8A3D -#define GL_UNIFORM_IS_ROW_MAJOR 0x8A3E -#define GL_UNIFORM_BLOCK_BINDING 0x8A3F -#define GL_UNIFORM_BLOCK_DATA_SIZE 0x8A40 -#define GL_UNIFORM_BLOCK_NAME_LENGTH 0x8A41 -#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORMS 0x8A42 -#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORM_INDICES 0x8A43 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_VERTEX_SHADER 0x8A44 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_GEOMETRY_SHADER 0x8A45 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_FRAGMENT_SHADER 0x8A46 -#define GL_INVALID_INDEX 0xFFFFFFFF -#define GL_CONTEXT_CORE_PROFILE_BIT 0x00000001 -#define GL_CONTEXT_COMPATIBILITY_PROFILE_BIT 0x00000002 -#define GL_LINES_ADJACENCY 0x000A -#define GL_LINE_STRIP_ADJACENCY 0x000B -#define GL_TRIANGLES_ADJACENCY 0x000C -#define GL_TRIANGLE_STRIP_ADJACENCY 0x000D -#define GL_PROGRAM_POINT_SIZE 0x8642 -#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS 0x8C29 -#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED 0x8DA7 -#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS 0x8DA8 -#define GL_GEOMETRY_SHADER 0x8DD9 -#define GL_GEOMETRY_VERTICES_OUT 0x8916 -#define GL_GEOMETRY_INPUT_TYPE 0x8917 -#define GL_GEOMETRY_OUTPUT_TYPE 0x8918 -#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS 0x8DDF -#define GL_MAX_GEOMETRY_OUTPUT_VERTICES 0x8DE0 -#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS 0x8DE1 -#define GL_MAX_VERTEX_OUTPUT_COMPONENTS 0x9122 -#define GL_MAX_GEOMETRY_INPUT_COMPONENTS 0x9123 -#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS 0x9124 -#define GL_MAX_FRAGMENT_INPUT_COMPONENTS 0x9125 -#define GL_CONTEXT_PROFILE_MASK 0x9126 -#define GL_DEPTH_CLAMP 0x864F -#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION 0x8E4C -#define GL_FIRST_VERTEX_CONVENTION 0x8E4D -#define GL_LAST_VERTEX_CONVENTION 0x8E4E -#define GL_PROVOKING_VERTEX 0x8E4F -#define GL_TEXTURE_CUBE_MAP_SEAMLESS 0x884F -#define GL_MAX_SERVER_WAIT_TIMEOUT 0x9111 -#define GL_OBJECT_TYPE 0x9112 -#define GL_SYNC_CONDITION 0x9113 -#define GL_SYNC_STATUS 0x9114 -#define GL_SYNC_FLAGS 0x9115 -#define GL_SYNC_FENCE 0x9116 -#define GL_SYNC_GPU_COMMANDS_COMPLETE 0x9117 -#define GL_UNSIGNALED 0x9118 -#define GL_SIGNALED 0x9119 -#define GL_ALREADY_SIGNALED 0x911A -#define GL_TIMEOUT_EXPIRED 0x911B -#define GL_CONDITION_SATISFIED 0x911C -#define GL_WAIT_FAILED 0x911D -#define GL_TIMEOUT_IGNORED 0xFFFFFFFFFFFFFFFF -#define GL_SYNC_FLUSH_COMMANDS_BIT 0x00000001 -#define GL_SAMPLE_POSITION 0x8E50 -#define GL_SAMPLE_MASK 0x8E51 -#define GL_SAMPLE_MASK_VALUE 0x8E52 -#define GL_MAX_SAMPLE_MASK_WORDS 0x8E59 -#define GL_TEXTURE_2D_MULTISAMPLE 0x9100 -#define GL_PROXY_TEXTURE_2D_MULTISAMPLE 0x9101 -#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9102 -#define GL_PROXY_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9103 -#define GL_TEXTURE_BINDING_2D_MULTISAMPLE 0x9104 -#define GL_TEXTURE_BINDING_2D_MULTISAMPLE_ARRAY 0x9105 -#define GL_TEXTURE_SAMPLES 0x9106 -#define GL_TEXTURE_FIXED_SAMPLE_LOCATIONS 0x9107 -#define GL_SAMPLER_2D_MULTISAMPLE 0x9108 -#define GL_INT_SAMPLER_2D_MULTISAMPLE 0x9109 -#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE 0x910A -#define GL_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910B -#define GL_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910C -#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910D -#define GL_MAX_COLOR_TEXTURE_SAMPLES 0x910E -#define GL_MAX_DEPTH_TEXTURE_SAMPLES 0x910F -#define GL_MAX_INTEGER_SAMPLES 0x9110 -#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR 0x88FE -#define GL_SRC1_COLOR 0x88F9 -#define GL_ONE_MINUS_SRC1_COLOR 0x88FA -#define GL_ONE_MINUS_SRC1_ALPHA 0x88FB -#define GL_MAX_DUAL_SOURCE_DRAW_BUFFERS 0x88FC -#define GL_ANY_SAMPLES_PASSED 0x8C2F -#define GL_SAMPLER_BINDING 0x8919 -#define GL_RGB10_A2UI 0x906F -#define GL_TEXTURE_SWIZZLE_R 0x8E42 -#define GL_TEXTURE_SWIZZLE_G 0x8E43 -#define GL_TEXTURE_SWIZZLE_B 0x8E44 -#define GL_TEXTURE_SWIZZLE_A 0x8E45 -#define GL_TEXTURE_SWIZZLE_RGBA 0x8E46 -#define GL_TIME_ELAPSED 0x88BF -#define GL_TIMESTAMP 0x8E28 -#define GL_INT_2_10_10_10_REV 0x8D9F -#define GL_SAMPLE_SHADING 0x8C36 -#define GL_MIN_SAMPLE_SHADING_VALUE 0x8C37 -#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5E -#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5F -#define GL_TEXTURE_CUBE_MAP_ARRAY 0x9009 -#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY 0x900A -#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY 0x900B -#define GL_SAMPLER_CUBE_MAP_ARRAY 0x900C -#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW 0x900D -#define GL_INT_SAMPLER_CUBE_MAP_ARRAY 0x900E -#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY 0x900F -#define GL_DRAW_INDIRECT_BUFFER 0x8F3F -#define GL_DRAW_INDIRECT_BUFFER_BINDING 0x8F43 -#define GL_GEOMETRY_SHADER_INVOCATIONS 0x887F -#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS 0x8E5A -#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET 0x8E5B -#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET 0x8E5C -#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS 0x8E5D -#define GL_MAX_VERTEX_STREAMS 0x8E71 -#define GL_DOUBLE_VEC2 0x8FFC -#define GL_DOUBLE_VEC3 0x8FFD -#define GL_DOUBLE_VEC4 0x8FFE -#define GL_DOUBLE_MAT2 0x8F46 -#define GL_DOUBLE_MAT3 0x8F47 -#define GL_DOUBLE_MAT4 0x8F48 -#define GL_DOUBLE_MAT2x3 0x8F49 -#define GL_DOUBLE_MAT2x4 0x8F4A -#define GL_DOUBLE_MAT3x2 0x8F4B -#define GL_DOUBLE_MAT3x4 0x8F4C -#define GL_DOUBLE_MAT4x2 0x8F4D -#define GL_DOUBLE_MAT4x3 0x8F4E -#define GL_ACTIVE_SUBROUTINES 0x8DE5 -#define GL_ACTIVE_SUBROUTINE_UNIFORMS 0x8DE6 -#define GL_ACTIVE_SUBROUTINE_UNIFORM_LOCATIONS 0x8E47 -#define GL_ACTIVE_SUBROUTINE_MAX_LENGTH 0x8E48 -#define GL_ACTIVE_SUBROUTINE_UNIFORM_MAX_LENGTH 0x8E49 -#define GL_MAX_SUBROUTINES 0x8DE7 -#define GL_MAX_SUBROUTINE_UNIFORM_LOCATIONS 0x8DE8 -#define GL_NUM_COMPATIBLE_SUBROUTINES 0x8E4A -#define GL_COMPATIBLE_SUBROUTINES 0x8E4B -#define GL_PATCHES 0x000E -#define GL_PATCH_VERTICES 0x8E72 -#define GL_PATCH_DEFAULT_INNER_LEVEL 0x8E73 -#define GL_PATCH_DEFAULT_OUTER_LEVEL 0x8E74 -#define GL_TESS_CONTROL_OUTPUT_VERTICES 0x8E75 -#define GL_TESS_GEN_MODE 0x8E76 -#define GL_TESS_GEN_SPACING 0x8E77 -#define GL_TESS_GEN_VERTEX_ORDER 0x8E78 -#define GL_TESS_GEN_POINT_MODE 0x8E79 -#define GL_ISOLINES 0x8E7A -#define GL_QUADS 0x0007 -#define GL_FRACTIONAL_ODD 0x8E7B -#define GL_FRACTIONAL_EVEN 0x8E7C -#define GL_MAX_PATCH_VERTICES 0x8E7D -#define GL_MAX_TESS_GEN_LEVEL 0x8E7E -#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E7F -#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E80 -#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS 0x8E81 -#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS 0x8E82 -#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS 0x8E83 -#define GL_MAX_TESS_PATCH_COMPONENTS 0x8E84 -#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS 0x8E85 -#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS 0x8E86 -#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS 0x8E89 -#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS 0x8E8A -#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS 0x886C -#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS 0x886D -#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E1E -#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E1F -#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_CONTROL_SHADER 0x84F0 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_EVALUATION_SHADER 0x84F1 -#define GL_TESS_EVALUATION_SHADER 0x8E87 -#define GL_TESS_CONTROL_SHADER 0x8E88 -#define GL_TRANSFORM_FEEDBACK 0x8E22 -#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED 0x8E23 -#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE 0x8E24 -#define GL_TRANSFORM_FEEDBACK_BINDING 0x8E25 -#define GL_MAX_TRANSFORM_FEEDBACK_BUFFERS 0x8E70 -#define GL_FIXED 0x140C -#define GL_IMPLEMENTATION_COLOR_READ_TYPE 0x8B9A -#define GL_IMPLEMENTATION_COLOR_READ_FORMAT 0x8B9B -#define GL_LOW_FLOAT 0x8DF0 -#define GL_MEDIUM_FLOAT 0x8DF1 -#define GL_HIGH_FLOAT 0x8DF2 -#define GL_LOW_INT 0x8DF3 -#define GL_MEDIUM_INT 0x8DF4 -#define GL_HIGH_INT 0x8DF5 -#define GL_SHADER_COMPILER 0x8DFA -#define GL_SHADER_BINARY_FORMATS 0x8DF8 -#define GL_NUM_SHADER_BINARY_FORMATS 0x8DF9 -#define GL_MAX_VERTEX_UNIFORM_VECTORS 0x8DFB -#define GL_MAX_VARYING_VECTORS 0x8DFC -#define GL_MAX_FRAGMENT_UNIFORM_VECTORS 0x8DFD -#define GL_RGB565 0x8D62 -#define GL_PROGRAM_BINARY_RETRIEVABLE_HINT 0x8257 -#define GL_PROGRAM_BINARY_LENGTH 0x8741 -#define GL_NUM_PROGRAM_BINARY_FORMATS 0x87FE -#define GL_PROGRAM_BINARY_FORMATS 0x87FF -#define GL_VERTEX_SHADER_BIT 0x00000001 -#define GL_FRAGMENT_SHADER_BIT 0x00000002 -#define GL_GEOMETRY_SHADER_BIT 0x00000004 -#define GL_TESS_CONTROL_SHADER_BIT 0x00000008 -#define GL_TESS_EVALUATION_SHADER_BIT 0x00000010 -#define GL_ALL_SHADER_BITS 0xFFFFFFFF -#define GL_PROGRAM_SEPARABLE 0x8258 -#define GL_ACTIVE_PROGRAM 0x8259 -#define GL_PROGRAM_PIPELINE_BINDING 0x825A -#define GL_MAX_VIEWPORTS 0x825B -#define GL_VIEWPORT_SUBPIXEL_BITS 0x825C -#define GL_VIEWPORT_BOUNDS_RANGE 0x825D -#define GL_LAYER_PROVOKING_VERTEX 0x825E -#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX 0x825F -#define GL_UNDEFINED_VERTEX 0x8260 -#define GL_COPY_READ_BUFFER_BINDING 0x8F36 -#define GL_COPY_WRITE_BUFFER_BINDING 0x8F37 -#define GL_TRANSFORM_FEEDBACK_ACTIVE 0x8E24 -#define GL_TRANSFORM_FEEDBACK_PAUSED 0x8E23 -#define GL_UNPACK_COMPRESSED_BLOCK_WIDTH 0x9127 -#define GL_UNPACK_COMPRESSED_BLOCK_HEIGHT 0x9128 -#define GL_UNPACK_COMPRESSED_BLOCK_DEPTH 0x9129 -#define GL_UNPACK_COMPRESSED_BLOCK_SIZE 0x912A -#define GL_PACK_COMPRESSED_BLOCK_WIDTH 0x912B -#define GL_PACK_COMPRESSED_BLOCK_HEIGHT 0x912C -#define GL_PACK_COMPRESSED_BLOCK_DEPTH 0x912D -#define GL_PACK_COMPRESSED_BLOCK_SIZE 0x912E -#define GL_NUM_SAMPLE_COUNTS 0x9380 -#define GL_MIN_MAP_BUFFER_ALIGNMENT 0x90BC -#define GL_ATOMIC_COUNTER_BUFFER 0x92C0 -#define GL_ATOMIC_COUNTER_BUFFER_BINDING 0x92C1 -#define GL_ATOMIC_COUNTER_BUFFER_START 0x92C2 -#define GL_ATOMIC_COUNTER_BUFFER_SIZE 0x92C3 -#define GL_ATOMIC_COUNTER_BUFFER_DATA_SIZE 0x92C4 -#define GL_ATOMIC_COUNTER_BUFFER_ACTIVE_ATOMIC_COUNTERS 0x92C5 -#define GL_ATOMIC_COUNTER_BUFFER_ACTIVE_ATOMIC_COUNTER_INDICES 0x92C6 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_VERTEX_SHADER 0x92C7 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TESS_CONTROL_SHADER 0x92C8 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_TESS_EVALUATION_SHADER 0x92C9 -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_GEOMETRY_SHADER 0x92CA -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_FRAGMENT_SHADER 0x92CB -#define GL_MAX_VERTEX_ATOMIC_COUNTER_BUFFERS 0x92CC -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTER_BUFFERS 0x92CD -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTER_BUFFERS 0x92CE -#define GL_MAX_GEOMETRY_ATOMIC_COUNTER_BUFFERS 0x92CF -#define GL_MAX_FRAGMENT_ATOMIC_COUNTER_BUFFERS 0x92D0 -#define GL_MAX_COMBINED_ATOMIC_COUNTER_BUFFERS 0x92D1 -#define GL_MAX_VERTEX_ATOMIC_COUNTERS 0x92D2 -#define GL_MAX_TESS_CONTROL_ATOMIC_COUNTERS 0x92D3 -#define GL_MAX_TESS_EVALUATION_ATOMIC_COUNTERS 0x92D4 -#define GL_MAX_GEOMETRY_ATOMIC_COUNTERS 0x92D5 -#define GL_MAX_FRAGMENT_ATOMIC_COUNTERS 0x92D6 -#define GL_MAX_COMBINED_ATOMIC_COUNTERS 0x92D7 -#define GL_MAX_ATOMIC_COUNTER_BUFFER_SIZE 0x92D8 -#define GL_MAX_ATOMIC_COUNTER_BUFFER_BINDINGS 0x92DC -#define GL_ACTIVE_ATOMIC_COUNTER_BUFFERS 0x92D9 -#define GL_UNIFORM_ATOMIC_COUNTER_BUFFER_INDEX 0x92DA -#define GL_UNSIGNED_INT_ATOMIC_COUNTER 0x92DB -#define GL_VERTEX_ATTRIB_ARRAY_BARRIER_BIT 0x00000001 -#define GL_ELEMENT_ARRAY_BARRIER_BIT 0x00000002 -#define GL_UNIFORM_BARRIER_BIT 0x00000004 -#define GL_TEXTURE_FETCH_BARRIER_BIT 0x00000008 -#define GL_SHADER_IMAGE_ACCESS_BARRIER_BIT 0x00000020 -#define GL_COMMAND_BARRIER_BIT 0x00000040 -#define GL_PIXEL_BUFFER_BARRIER_BIT 0x00000080 -#define GL_TEXTURE_UPDATE_BARRIER_BIT 0x00000100 -#define GL_BUFFER_UPDATE_BARRIER_BIT 0x00000200 -#define GL_FRAMEBUFFER_BARRIER_BIT 0x00000400 -#define GL_TRANSFORM_FEEDBACK_BARRIER_BIT 0x00000800 -#define GL_ATOMIC_COUNTER_BARRIER_BIT 0x00001000 -#define GL_ALL_BARRIER_BITS 0xFFFFFFFF -#define GL_MAX_IMAGE_UNITS 0x8F38 -#define GL_MAX_COMBINED_IMAGE_UNITS_AND_FRAGMENT_OUTPUTS 0x8F39 -#define GL_IMAGE_BINDING_NAME 0x8F3A -#define GL_IMAGE_BINDING_LEVEL 0x8F3B -#define GL_IMAGE_BINDING_LAYERED 0x8F3C -#define GL_IMAGE_BINDING_LAYER 0x8F3D -#define GL_IMAGE_BINDING_ACCESS 0x8F3E -#define GL_IMAGE_1D 0x904C -#define GL_IMAGE_2D 0x904D -#define GL_IMAGE_3D 0x904E -#define GL_IMAGE_2D_RECT 0x904F -#define GL_IMAGE_CUBE 0x9050 -#define GL_IMAGE_BUFFER 0x9051 -#define GL_IMAGE_1D_ARRAY 0x9052 -#define GL_IMAGE_2D_ARRAY 0x9053 -#define GL_IMAGE_CUBE_MAP_ARRAY 0x9054 -#define GL_IMAGE_2D_MULTISAMPLE 0x9055 -#define GL_IMAGE_2D_MULTISAMPLE_ARRAY 0x9056 -#define GL_INT_IMAGE_1D 0x9057 -#define GL_INT_IMAGE_2D 0x9058 -#define GL_INT_IMAGE_3D 0x9059 -#define GL_INT_IMAGE_2D_RECT 0x905A -#define GL_INT_IMAGE_CUBE 0x905B -#define GL_INT_IMAGE_BUFFER 0x905C -#define GL_INT_IMAGE_1D_ARRAY 0x905D -#define GL_INT_IMAGE_2D_ARRAY 0x905E -#define GL_INT_IMAGE_CUBE_MAP_ARRAY 0x905F -#define GL_INT_IMAGE_2D_MULTISAMPLE 0x9060 -#define GL_INT_IMAGE_2D_MULTISAMPLE_ARRAY 0x9061 -#define GL_UNSIGNED_INT_IMAGE_1D 0x9062 -#define GL_UNSIGNED_INT_IMAGE_2D 0x9063 -#define GL_UNSIGNED_INT_IMAGE_3D 0x9064 -#define GL_UNSIGNED_INT_IMAGE_2D_RECT 0x9065 -#define GL_UNSIGNED_INT_IMAGE_CUBE 0x9066 -#define GL_UNSIGNED_INT_IMAGE_BUFFER 0x9067 -#define GL_UNSIGNED_INT_IMAGE_1D_ARRAY 0x9068 -#define GL_UNSIGNED_INT_IMAGE_2D_ARRAY 0x9069 -#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY 0x906A -#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE 0x906B -#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_ARRAY 0x906C -#define GL_MAX_IMAGE_SAMPLES 0x906D -#define GL_IMAGE_BINDING_FORMAT 0x906E -#define GL_IMAGE_FORMAT_COMPATIBILITY_TYPE 0x90C7 -#define GL_IMAGE_FORMAT_COMPATIBILITY_BY_SIZE 0x90C8 -#define GL_IMAGE_FORMAT_COMPATIBILITY_BY_CLASS 0x90C9 -#define GL_MAX_VERTEX_IMAGE_UNIFORMS 0x90CA -#define GL_MAX_TESS_CONTROL_IMAGE_UNIFORMS 0x90CB -#define GL_MAX_TESS_EVALUATION_IMAGE_UNIFORMS 0x90CC -#define GL_MAX_GEOMETRY_IMAGE_UNIFORMS 0x90CD -#define GL_MAX_FRAGMENT_IMAGE_UNIFORMS 0x90CE -#define GL_MAX_COMBINED_IMAGE_UNIFORMS 0x90CF -#define GL_COMPRESSED_RGBA_BPTC_UNORM 0x8E8C -#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM 0x8E8D -#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT 0x8E8E -#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT 0x8E8F -#define GL_TEXTURE_IMMUTABLE_FORMAT 0x912F -#define GL_NUM_SHADING_LANGUAGE_VERSIONS 0x82E9 -#define GL_VERTEX_ATTRIB_ARRAY_LONG 0x874E -#define GL_COMPRESSED_RGB8_ETC2 0x9274 -#define GL_COMPRESSED_SRGB8_ETC2 0x9275 -#define GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2 0x9276 -#define GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2 0x9277 -#define GL_COMPRESSED_RGBA8_ETC2_EAC 0x9278 -#define GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC 0x9279 -#define GL_COMPRESSED_R11_EAC 0x9270 -#define GL_COMPRESSED_SIGNED_R11_EAC 0x9271 -#define GL_COMPRESSED_RG11_EAC 0x9272 -#define GL_COMPRESSED_SIGNED_RG11_EAC 0x9273 -#define GL_PRIMITIVE_RESTART_FIXED_INDEX 0x8D69 -#define GL_ANY_SAMPLES_PASSED_CONSERVATIVE 0x8D6A -#define GL_MAX_ELEMENT_INDEX 0x8D6B -#define GL_COMPUTE_SHADER 0x91B9 -#define GL_MAX_COMPUTE_UNIFORM_BLOCKS 0x91BB -#define GL_MAX_COMPUTE_TEXTURE_IMAGE_UNITS 0x91BC -#define GL_MAX_COMPUTE_IMAGE_UNIFORMS 0x91BD -#define GL_MAX_COMPUTE_SHARED_MEMORY_SIZE 0x8262 -#define GL_MAX_COMPUTE_UNIFORM_COMPONENTS 0x8263 -#define GL_MAX_COMPUTE_ATOMIC_COUNTER_BUFFERS 0x8264 -#define GL_MAX_COMPUTE_ATOMIC_COUNTERS 0x8265 -#define GL_MAX_COMBINED_COMPUTE_UNIFORM_COMPONENTS 0x8266 -#define GL_MAX_COMPUTE_WORK_GROUP_INVOCATIONS 0x90EB -#define GL_MAX_COMPUTE_WORK_GROUP_COUNT 0x91BE -#define GL_MAX_COMPUTE_WORK_GROUP_SIZE 0x91BF -#define GL_COMPUTE_WORK_GROUP_SIZE 0x8267 -#define GL_UNIFORM_BLOCK_REFERENCED_BY_COMPUTE_SHADER 0x90EC -#define GL_ATOMIC_COUNTER_BUFFER_REFERENCED_BY_COMPUTE_SHADER 0x90ED -#define GL_DISPATCH_INDIRECT_BUFFER 0x90EE -#define GL_DISPATCH_INDIRECT_BUFFER_BINDING 0x90EF -#define GL_COMPUTE_SHADER_BIT 0x00000020 -#define GL_DEBUG_OUTPUT_SYNCHRONOUS 0x8242 -#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH 0x8243 -#define GL_DEBUG_CALLBACK_FUNCTION 0x8244 -#define GL_DEBUG_CALLBACK_USER_PARAM 0x8245 -#define GL_DEBUG_SOURCE_API 0x8246 -#define GL_DEBUG_SOURCE_WINDOW_SYSTEM 0x8247 -#define GL_DEBUG_SOURCE_SHADER_COMPILER 0x8248 -#define GL_DEBUG_SOURCE_THIRD_PARTY 0x8249 -#define GL_DEBUG_SOURCE_APPLICATION 0x824A -#define GL_DEBUG_SOURCE_OTHER 0x824B -#define GL_DEBUG_TYPE_ERROR 0x824C -#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR 0x824D -#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR 0x824E -#define GL_DEBUG_TYPE_PORTABILITY 0x824F -#define GL_DEBUG_TYPE_PERFORMANCE 0x8250 -#define GL_DEBUG_TYPE_OTHER 0x8251 -#define GL_MAX_DEBUG_MESSAGE_LENGTH 0x9143 -#define GL_MAX_DEBUG_LOGGED_MESSAGES 0x9144 -#define GL_DEBUG_LOGGED_MESSAGES 0x9145 -#define GL_DEBUG_SEVERITY_HIGH 0x9146 -#define GL_DEBUG_SEVERITY_MEDIUM 0x9147 -#define GL_DEBUG_SEVERITY_LOW 0x9148 -#define GL_DEBUG_TYPE_MARKER 0x8268 -#define GL_DEBUG_TYPE_PUSH_GROUP 0x8269 -#define GL_DEBUG_TYPE_POP_GROUP 0x826A -#define GL_DEBUG_SEVERITY_NOTIFICATION 0x826B -#define GL_MAX_DEBUG_GROUP_STACK_DEPTH 0x826C -#define GL_DEBUG_GROUP_STACK_DEPTH 0x826D -#define GL_BUFFER 0x82E0 -#define GL_SHADER 0x82E1 -#define GL_PROGRAM 0x82E2 -#define GL_VERTEX_ARRAY 0x8074 -#define GL_QUERY 0x82E3 -#define GL_PROGRAM_PIPELINE 0x82E4 -#define GL_SAMPLER 0x82E6 -#define GL_MAX_LABEL_LENGTH 0x82E8 -#define GL_DEBUG_OUTPUT 0x92E0 -#define GL_CONTEXT_FLAG_DEBUG_BIT 0x00000002 -#define GL_MAX_UNIFORM_LOCATIONS 0x826E -#define GL_FRAMEBUFFER_DEFAULT_WIDTH 0x9310 -#define GL_FRAMEBUFFER_DEFAULT_HEIGHT 0x9311 -#define GL_FRAMEBUFFER_DEFAULT_LAYERS 0x9312 -#define GL_FRAMEBUFFER_DEFAULT_SAMPLES 0x9313 -#define GL_FRAMEBUFFER_DEFAULT_FIXED_SAMPLE_LOCATIONS 0x9314 -#define GL_MAX_FRAMEBUFFER_WIDTH 0x9315 -#define GL_MAX_FRAMEBUFFER_HEIGHT 0x9316 -#define GL_MAX_FRAMEBUFFER_LAYERS 0x9317 -#define GL_MAX_FRAMEBUFFER_SAMPLES 0x9318 -#define GL_INTERNALFORMAT_SUPPORTED 0x826F -#define GL_INTERNALFORMAT_PREFERRED 0x8270 -#define GL_INTERNALFORMAT_RED_SIZE 0x8271 -#define GL_INTERNALFORMAT_GREEN_SIZE 0x8272 -#define GL_INTERNALFORMAT_BLUE_SIZE 0x8273 -#define GL_INTERNALFORMAT_ALPHA_SIZE 0x8274 -#define GL_INTERNALFORMAT_DEPTH_SIZE 0x8275 -#define GL_INTERNALFORMAT_STENCIL_SIZE 0x8276 -#define GL_INTERNALFORMAT_SHARED_SIZE 0x8277 -#define GL_INTERNALFORMAT_RED_TYPE 0x8278 -#define GL_INTERNALFORMAT_GREEN_TYPE 0x8279 -#define GL_INTERNALFORMAT_BLUE_TYPE 0x827A -#define GL_INTERNALFORMAT_ALPHA_TYPE 0x827B -#define GL_INTERNALFORMAT_DEPTH_TYPE 0x827C -#define GL_INTERNALFORMAT_STENCIL_TYPE 0x827D -#define GL_MAX_WIDTH 0x827E -#define GL_MAX_HEIGHT 0x827F -#define GL_MAX_DEPTH 0x8280 -#define GL_MAX_LAYERS 0x8281 -#define GL_MAX_COMBINED_DIMENSIONS 0x8282 -#define GL_COLOR_COMPONENTS 0x8283 -#define GL_DEPTH_COMPONENTS 0x8284 -#define GL_STENCIL_COMPONENTS 0x8285 -#define GL_COLOR_RENDERABLE 0x8286 -#define GL_DEPTH_RENDERABLE 0x8287 -#define GL_STENCIL_RENDERABLE 0x8288 -#define GL_FRAMEBUFFER_RENDERABLE 0x8289 -#define GL_FRAMEBUFFER_RENDERABLE_LAYERED 0x828A -#define GL_FRAMEBUFFER_BLEND 0x828B -#define GL_READ_PIXELS 0x828C -#define GL_READ_PIXELS_FORMAT 0x828D -#define GL_READ_PIXELS_TYPE 0x828E -#define GL_TEXTURE_IMAGE_FORMAT 0x828F -#define GL_TEXTURE_IMAGE_TYPE 0x8290 -#define GL_GET_TEXTURE_IMAGE_FORMAT 0x8291 -#define GL_GET_TEXTURE_IMAGE_TYPE 0x8292 -#define GL_MIPMAP 0x8293 -#define GL_MANUAL_GENERATE_MIPMAP 0x8294 -#define GL_AUTO_GENERATE_MIPMAP 0x8295 -#define GL_COLOR_ENCODING 0x8296 -#define GL_SRGB_READ 0x8297 -#define GL_SRGB_WRITE 0x8298 -#define GL_FILTER 0x829A -#define GL_VERTEX_TEXTURE 0x829B -#define GL_TESS_CONTROL_TEXTURE 0x829C -#define GL_TESS_EVALUATION_TEXTURE 0x829D -#define GL_GEOMETRY_TEXTURE 0x829E -#define GL_FRAGMENT_TEXTURE 0x829F -#define GL_COMPUTE_TEXTURE 0x82A0 -#define GL_TEXTURE_SHADOW 0x82A1 -#define GL_TEXTURE_GATHER 0x82A2 -#define GL_TEXTURE_GATHER_SHADOW 0x82A3 -#define GL_SHADER_IMAGE_LOAD 0x82A4 -#define GL_SHADER_IMAGE_STORE 0x82A5 -#define GL_SHADER_IMAGE_ATOMIC 0x82A6 -#define GL_IMAGE_TEXEL_SIZE 0x82A7 -#define GL_IMAGE_COMPATIBILITY_CLASS 0x82A8 -#define GL_IMAGE_PIXEL_FORMAT 0x82A9 -#define GL_IMAGE_PIXEL_TYPE 0x82AA -#define GL_SIMULTANEOUS_TEXTURE_AND_DEPTH_TEST 0x82AC -#define GL_SIMULTANEOUS_TEXTURE_AND_STENCIL_TEST 0x82AD -#define GL_SIMULTANEOUS_TEXTURE_AND_DEPTH_WRITE 0x82AE -#define GL_SIMULTANEOUS_TEXTURE_AND_STENCIL_WRITE 0x82AF -#define GL_TEXTURE_COMPRESSED_BLOCK_WIDTH 0x82B1 -#define GL_TEXTURE_COMPRESSED_BLOCK_HEIGHT 0x82B2 -#define GL_TEXTURE_COMPRESSED_BLOCK_SIZE 0x82B3 -#define GL_CLEAR_BUFFER 0x82B4 -#define GL_TEXTURE_VIEW 0x82B5 -#define GL_VIEW_COMPATIBILITY_CLASS 0x82B6 -#define GL_FULL_SUPPORT 0x82B7 -#define GL_CAVEAT_SUPPORT 0x82B8 -#define GL_IMAGE_CLASS_4_X_32 0x82B9 -#define GL_IMAGE_CLASS_2_X_32 0x82BA -#define GL_IMAGE_CLASS_1_X_32 0x82BB -#define GL_IMAGE_CLASS_4_X_16 0x82BC -#define GL_IMAGE_CLASS_2_X_16 0x82BD -#define GL_IMAGE_CLASS_1_X_16 0x82BE -#define GL_IMAGE_CLASS_4_X_8 0x82BF -#define GL_IMAGE_CLASS_2_X_8 0x82C0 -#define GL_IMAGE_CLASS_1_X_8 0x82C1 -#define GL_IMAGE_CLASS_11_11_10 0x82C2 -#define GL_IMAGE_CLASS_10_10_10_2 0x82C3 -#define GL_VIEW_CLASS_128_BITS 0x82C4 -#define GL_VIEW_CLASS_96_BITS 0x82C5 -#define GL_VIEW_CLASS_64_BITS 0x82C6 -#define GL_VIEW_CLASS_48_BITS 0x82C7 -#define GL_VIEW_CLASS_32_BITS 0x82C8 -#define GL_VIEW_CLASS_24_BITS 0x82C9 -#define GL_VIEW_CLASS_16_BITS 0x82CA -#define GL_VIEW_CLASS_8_BITS 0x82CB -#define GL_VIEW_CLASS_S3TC_DXT1_RGB 0x82CC -#define GL_VIEW_CLASS_S3TC_DXT1_RGBA 0x82CD -#define GL_VIEW_CLASS_S3TC_DXT3_RGBA 0x82CE -#define GL_VIEW_CLASS_S3TC_DXT5_RGBA 0x82CF -#define GL_VIEW_CLASS_RGTC1_RED 0x82D0 -#define GL_VIEW_CLASS_RGTC2_RG 0x82D1 -#define GL_VIEW_CLASS_BPTC_UNORM 0x82D2 -#define GL_VIEW_CLASS_BPTC_FLOAT 0x82D3 -#define GL_UNIFORM 0x92E1 -#define GL_UNIFORM_BLOCK 0x92E2 -#define GL_PROGRAM_INPUT 0x92E3 -#define GL_PROGRAM_OUTPUT 0x92E4 -#define GL_BUFFER_VARIABLE 0x92E5 -#define GL_SHADER_STORAGE_BLOCK 0x92E6 -#define GL_VERTEX_SUBROUTINE 0x92E8 -#define GL_TESS_CONTROL_SUBROUTINE 0x92E9 -#define GL_TESS_EVALUATION_SUBROUTINE 0x92EA -#define GL_GEOMETRY_SUBROUTINE 0x92EB -#define GL_FRAGMENT_SUBROUTINE 0x92EC -#define GL_COMPUTE_SUBROUTINE 0x92ED -#define GL_VERTEX_SUBROUTINE_UNIFORM 0x92EE -#define GL_TESS_CONTROL_SUBROUTINE_UNIFORM 0x92EF -#define GL_TESS_EVALUATION_SUBROUTINE_UNIFORM 0x92F0 -#define GL_GEOMETRY_SUBROUTINE_UNIFORM 0x92F1 -#define GL_FRAGMENT_SUBROUTINE_UNIFORM 0x92F2 -#define GL_COMPUTE_SUBROUTINE_UNIFORM 0x92F3 -#define GL_TRANSFORM_FEEDBACK_VARYING 0x92F4 -#define GL_ACTIVE_RESOURCES 0x92F5 -#define GL_MAX_NAME_LENGTH 0x92F6 -#define GL_MAX_NUM_ACTIVE_VARIABLES 0x92F7 -#define GL_MAX_NUM_COMPATIBLE_SUBROUTINES 0x92F8 -#define GL_NAME_LENGTH 0x92F9 -#define GL_TYPE 0x92FA -#define GL_ARRAY_SIZE 0x92FB -#define GL_OFFSET 0x92FC -#define GL_BLOCK_INDEX 0x92FD -#define GL_ARRAY_STRIDE 0x92FE -#define GL_MATRIX_STRIDE 0x92FF -#define GL_IS_ROW_MAJOR 0x9300 -#define GL_ATOMIC_COUNTER_BUFFER_INDEX 0x9301 -#define GL_BUFFER_BINDING 0x9302 -#define GL_BUFFER_DATA_SIZE 0x9303 -#define GL_NUM_ACTIVE_VARIABLES 0x9304 -#define GL_ACTIVE_VARIABLES 0x9305 -#define GL_REFERENCED_BY_VERTEX_SHADER 0x9306 -#define GL_REFERENCED_BY_TESS_CONTROL_SHADER 0x9307 -#define GL_REFERENCED_BY_TESS_EVALUATION_SHADER 0x9308 -#define GL_REFERENCED_BY_GEOMETRY_SHADER 0x9309 -#define GL_REFERENCED_BY_FRAGMENT_SHADER 0x930A -#define GL_REFERENCED_BY_COMPUTE_SHADER 0x930B -#define GL_TOP_LEVEL_ARRAY_SIZE 0x930C -#define GL_TOP_LEVEL_ARRAY_STRIDE 0x930D -#define GL_LOCATION 0x930E -#define GL_LOCATION_INDEX 0x930F -#define GL_IS_PER_PATCH 0x92E7 -#define GL_SHADER_STORAGE_BUFFER 0x90D2 -#define GL_SHADER_STORAGE_BUFFER_BINDING 0x90D3 -#define GL_SHADER_STORAGE_BUFFER_START 0x90D4 -#define GL_SHADER_STORAGE_BUFFER_SIZE 0x90D5 -#define GL_MAX_VERTEX_SHADER_STORAGE_BLOCKS 0x90D6 -#define GL_MAX_GEOMETRY_SHADER_STORAGE_BLOCKS 0x90D7 -#define GL_MAX_TESS_CONTROL_SHADER_STORAGE_BLOCKS 0x90D8 -#define GL_MAX_TESS_EVALUATION_SHADER_STORAGE_BLOCKS 0x90D9 -#define GL_MAX_FRAGMENT_SHADER_STORAGE_BLOCKS 0x90DA -#define GL_MAX_COMPUTE_SHADER_STORAGE_BLOCKS 0x90DB -#define GL_MAX_COMBINED_SHADER_STORAGE_BLOCKS 0x90DC -#define GL_MAX_SHADER_STORAGE_BUFFER_BINDINGS 0x90DD -#define GL_MAX_SHADER_STORAGE_BLOCK_SIZE 0x90DE -#define GL_SHADER_STORAGE_BUFFER_OFFSET_ALIGNMENT 0x90DF -#define GL_SHADER_STORAGE_BARRIER_BIT 0x00002000 -#define GL_MAX_COMBINED_SHADER_OUTPUT_RESOURCES 0x8F39 -#define GL_DEPTH_STENCIL_TEXTURE_MODE 0x90EA -#define GL_TEXTURE_BUFFER_OFFSET 0x919D -#define GL_TEXTURE_BUFFER_SIZE 0x919E -#define GL_TEXTURE_BUFFER_OFFSET_ALIGNMENT 0x919F -#define GL_TEXTURE_VIEW_MIN_LEVEL 0x82DB -#define GL_TEXTURE_VIEW_NUM_LEVELS 0x82DC -#define GL_TEXTURE_VIEW_MIN_LAYER 0x82DD -#define GL_TEXTURE_VIEW_NUM_LAYERS 0x82DE -#define GL_TEXTURE_IMMUTABLE_LEVELS 0x82DF -#define GL_VERTEX_ATTRIB_BINDING 0x82D4 -#define GL_VERTEX_ATTRIB_RELATIVE_OFFSET 0x82D5 -#define GL_VERTEX_BINDING_DIVISOR 0x82D6 -#define GL_VERTEX_BINDING_OFFSET 0x82D7 -#define GL_VERTEX_BINDING_STRIDE 0x82D8 -#define GL_MAX_VERTEX_ATTRIB_RELATIVE_OFFSET 0x82D9 -#define GL_MAX_VERTEX_ATTRIB_BINDINGS 0x82DA -#define GL_VERTEX_BINDING_BUFFER 0x8F4F -#define GL_DISPLAY_LIST 0x82E7 -#define GL_STACK_UNDERFLOW 0x0504 -#define GL_STACK_OVERFLOW 0x0503 -#define GL_MAX_VERTEX_ATTRIB_STRIDE 0x82E5 -#define GL_PRIMITIVE_RESTART_FOR_PATCHES_SUPPORTED 0x8221 -#define GL_TEXTURE_BUFFER_BINDING 0x8C2A -#define GL_MAP_PERSISTENT_BIT 0x0040 -#define GL_MAP_COHERENT_BIT 0x0080 -#define GL_DYNAMIC_STORAGE_BIT 0x0100 -#define GL_CLIENT_STORAGE_BIT 0x0200 -#define GL_CLIENT_MAPPED_BUFFER_BARRIER_BIT 0x00004000 -#define GL_BUFFER_IMMUTABLE_STORAGE 0x821F -#define GL_BUFFER_STORAGE_FLAGS 0x8220 -#define GL_CLEAR_TEXTURE 0x9365 -#define GL_LOCATION_COMPONENT 0x934A -#define GL_TRANSFORM_FEEDBACK_BUFFER_INDEX 0x934B -#define GL_TRANSFORM_FEEDBACK_BUFFER_STRIDE 0x934C -#define GL_QUERY_BUFFER 0x9192 -#define GL_QUERY_BUFFER_BARRIER_BIT 0x00008000 -#define GL_QUERY_BUFFER_BINDING 0x9193 -#define GL_QUERY_RESULT_NO_WAIT 0x9194 -#define GL_MIRROR_CLAMP_TO_EDGE 0x8743 -#define GL_CONTEXT_LOST 0x0507 -#define GL_NEGATIVE_ONE_TO_ONE 0x935E -#define GL_ZERO_TO_ONE 0x935F -#define GL_CLIP_ORIGIN 0x935C -#define GL_CLIP_DEPTH_MODE 0x935D -#define GL_QUERY_WAIT_INVERTED 0x8E17 -#define GL_QUERY_NO_WAIT_INVERTED 0x8E18 -#define GL_QUERY_BY_REGION_WAIT_INVERTED 0x8E19 -#define GL_QUERY_BY_REGION_NO_WAIT_INVERTED 0x8E1A -#define GL_MAX_CULL_DISTANCES 0x82F9 -#define GL_MAX_COMBINED_CLIP_AND_CULL_DISTANCES 0x82FA -#define GL_TEXTURE_TARGET 0x1006 -#define GL_QUERY_TARGET 0x82EA -#define GL_GUILTY_CONTEXT_RESET 0x8253 -#define GL_INNOCENT_CONTEXT_RESET 0x8254 -#define GL_UNKNOWN_CONTEXT_RESET 0x8255 -#define GL_RESET_NOTIFICATION_STRATEGY 0x8256 -#define GL_LOSE_CONTEXT_ON_RESET 0x8252 -#define GL_NO_RESET_NOTIFICATION 0x8261 -#define GL_CONTEXT_FLAG_ROBUST_ACCESS_BIT 0x00000004 -#define GL_COLOR_TABLE 0x80D0 -#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 -#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 -#define GL_PROXY_COLOR_TABLE 0x80D3 -#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 -#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 -#define GL_CONVOLUTION_1D 0x8010 -#define GL_CONVOLUTION_2D 0x8011 -#define GL_SEPARABLE_2D 0x8012 -#define GL_HISTOGRAM 0x8024 -#define GL_PROXY_HISTOGRAM 0x8025 -#define GL_MINMAX 0x802E -#define GL_CONTEXT_RELEASE_BEHAVIOR 0x82FB -#define GL_CONTEXT_RELEASE_BEHAVIOR_FLUSH 0x82FC -#define GL_SHADER_BINARY_FORMAT_SPIR_V 0x9551 -#define GL_SPIR_V_BINARY 0x9552 -#define GL_PARAMETER_BUFFER 0x80EE -#define GL_PARAMETER_BUFFER_BINDING 0x80EF -#define GL_CONTEXT_FLAG_NO_ERROR_BIT 0x00000008 -#define GL_VERTICES_SUBMITTED 0x82EE -#define GL_PRIMITIVES_SUBMITTED 0x82EF -#define GL_VERTEX_SHADER_INVOCATIONS 0x82F0 -#define GL_TESS_CONTROL_SHADER_PATCHES 0x82F1 -#define GL_TESS_EVALUATION_SHADER_INVOCATIONS 0x82F2 -#define GL_GEOMETRY_SHADER_PRIMITIVES_EMITTED 0x82F3 -#define GL_FRAGMENT_SHADER_INVOCATIONS 0x82F4 -#define GL_COMPUTE_SHADER_INVOCATIONS 0x82F5 -#define GL_CLIPPING_INPUT_PRIMITIVES 0x82F6 -#define GL_CLIPPING_OUTPUT_PRIMITIVES 0x82F7 -#define GL_POLYGON_OFFSET_CLAMP 0x8E1B -#define GL_SPIR_V_EXTENSIONS 0x9553 -#define GL_NUM_SPIR_V_EXTENSIONS 0x9554 -#define GL_TEXTURE_MAX_ANISOTROPY 0x84FE -#define GL_MAX_TEXTURE_MAX_ANISOTROPY 0x84FF -#define GL_TRANSFORM_FEEDBACK_OVERFLOW 0x82EC -#define GL_TRANSFORM_FEEDBACK_STREAM_OVERFLOW 0x82ED -#ifndef GL_VERSION_1_0 -#define GL_VERSION_1_0 1 - GLAPI int GLAD_GL_VERSION_1_0; - typedef void(APIENTRYP PFNGLCULLFACEPROC)(GLenum mode); - GLAPI PFNGLCULLFACEPROC glad_glCullFace; -#define glCullFace glad_glCullFace - typedef void(APIENTRYP PFNGLFRONTFACEPROC)(GLenum mode); - GLAPI PFNGLFRONTFACEPROC glad_glFrontFace; -#define glFrontFace glad_glFrontFace - typedef void(APIENTRYP PFNGLHINTPROC)(GLenum target, GLenum mode); - GLAPI PFNGLHINTPROC glad_glHint; -#define glHint glad_glHint - typedef void(APIENTRYP PFNGLLINEWIDTHPROC)(GLfloat width); - GLAPI PFNGLLINEWIDTHPROC glad_glLineWidth; -#define glLineWidth glad_glLineWidth - typedef void(APIENTRYP PFNGLPOINTSIZEPROC)(GLfloat size); - GLAPI PFNGLPOINTSIZEPROC glad_glPointSize; -#define glPointSize glad_glPointSize - typedef void(APIENTRYP PFNGLPOLYGONMODEPROC)(GLenum face, GLenum mode); - GLAPI PFNGLPOLYGONMODEPROC glad_glPolygonMode; -#define glPolygonMode glad_glPolygonMode - typedef void(APIENTRYP PFNGLSCISSORPROC)(GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLSCISSORPROC glad_glScissor; -#define glScissor glad_glScissor - typedef void(APIENTRYP PFNGLTEXPARAMETERFPROC)(GLenum target, GLenum pname, GLfloat param); - GLAPI PFNGLTEXPARAMETERFPROC glad_glTexParameterf; -#define glTexParameterf glad_glTexParameterf - typedef void(APIENTRYP PFNGLTEXPARAMETERFVPROC)(GLenum target, GLenum pname, const GLfloat *params); - GLAPI PFNGLTEXPARAMETERFVPROC glad_glTexParameterfv; -#define glTexParameterfv glad_glTexParameterfv - typedef void(APIENTRYP PFNGLTEXPARAMETERIPROC)(GLenum target, GLenum pname, GLint param); - GLAPI PFNGLTEXPARAMETERIPROC glad_glTexParameteri; -#define glTexParameteri glad_glTexParameteri - typedef void(APIENTRYP PFNGLTEXPARAMETERIVPROC)(GLenum target, GLenum pname, const GLint *params); - GLAPI PFNGLTEXPARAMETERIVPROC glad_glTexParameteriv; -#define glTexParameteriv glad_glTexParameteriv - typedef void(APIENTRYP PFNGLTEXIMAGE1DPROC)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXIMAGE1DPROC glad_glTexImage1D; -#define glTexImage1D glad_glTexImage1D - typedef void(APIENTRYP PFNGLTEXIMAGE2DPROC)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXIMAGE2DPROC glad_glTexImage2D; -#define glTexImage2D glad_glTexImage2D - typedef void(APIENTRYP PFNGLDRAWBUFFERPROC)(GLenum buf); - GLAPI PFNGLDRAWBUFFERPROC glad_glDrawBuffer; -#define glDrawBuffer glad_glDrawBuffer - typedef void(APIENTRYP PFNGLCLEARPROC)(GLbitfield mask); - GLAPI PFNGLCLEARPROC glad_glClear; -#define glClear glad_glClear - typedef void(APIENTRYP PFNGLCLEARCOLORPROC)(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); - GLAPI PFNGLCLEARCOLORPROC glad_glClearColor; -#define glClearColor glad_glClearColor - typedef void(APIENTRYP PFNGLCLEARSTENCILPROC)(GLint s); - GLAPI PFNGLCLEARSTENCILPROC glad_glClearStencil; -#define glClearStencil glad_glClearStencil - typedef void(APIENTRYP PFNGLCLEARDEPTHPROC)(GLdouble depth); - GLAPI PFNGLCLEARDEPTHPROC glad_glClearDepth; -#define glClearDepth glad_glClearDepth - typedef void(APIENTRYP PFNGLSTENCILMASKPROC)(GLuint mask); - GLAPI PFNGLSTENCILMASKPROC glad_glStencilMask; -#define glStencilMask glad_glStencilMask - typedef void(APIENTRYP PFNGLCOLORMASKPROC)(GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); - GLAPI PFNGLCOLORMASKPROC glad_glColorMask; -#define glColorMask glad_glColorMask - typedef void(APIENTRYP PFNGLDEPTHMASKPROC)(GLboolean flag); - GLAPI PFNGLDEPTHMASKPROC glad_glDepthMask; -#define glDepthMask glad_glDepthMask - typedef void(APIENTRYP PFNGLDISABLEPROC)(GLenum cap); - GLAPI PFNGLDISABLEPROC glad_glDisable; -#define glDisable glad_glDisable - typedef void(APIENTRYP PFNGLENABLEPROC)(GLenum cap); - GLAPI PFNGLENABLEPROC glad_glEnable; -#define glEnable glad_glEnable - typedef void(APIENTRYP PFNGLFINISHPROC)(void); - GLAPI PFNGLFINISHPROC glad_glFinish; -#define glFinish glad_glFinish - typedef void(APIENTRYP PFNGLFLUSHPROC)(void); - GLAPI PFNGLFLUSHPROC glad_glFlush; -#define glFlush glad_glFlush - typedef void(APIENTRYP PFNGLBLENDFUNCPROC)(GLenum sfactor, GLenum dfactor); - GLAPI PFNGLBLENDFUNCPROC glad_glBlendFunc; -#define glBlendFunc glad_glBlendFunc - typedef void(APIENTRYP PFNGLLOGICOPPROC)(GLenum opcode); - GLAPI PFNGLLOGICOPPROC glad_glLogicOp; -#define glLogicOp glad_glLogicOp - typedef void(APIENTRYP PFNGLSTENCILFUNCPROC)(GLenum func, GLint ref, GLuint mask); - GLAPI PFNGLSTENCILFUNCPROC glad_glStencilFunc; -#define glStencilFunc glad_glStencilFunc - typedef void(APIENTRYP PFNGLSTENCILOPPROC)(GLenum fail, GLenum zfail, GLenum zpass); - GLAPI PFNGLSTENCILOPPROC glad_glStencilOp; -#define glStencilOp glad_glStencilOp - typedef void(APIENTRYP PFNGLDEPTHFUNCPROC)(GLenum func); - GLAPI PFNGLDEPTHFUNCPROC glad_glDepthFunc; -#define glDepthFunc glad_glDepthFunc - typedef void(APIENTRYP PFNGLPIXELSTOREFPROC)(GLenum pname, GLfloat param); - GLAPI PFNGLPIXELSTOREFPROC glad_glPixelStoref; -#define glPixelStoref glad_glPixelStoref - typedef void(APIENTRYP PFNGLPIXELSTOREIPROC)(GLenum pname, GLint param); - GLAPI PFNGLPIXELSTOREIPROC glad_glPixelStorei; -#define glPixelStorei glad_glPixelStorei - typedef void(APIENTRYP PFNGLREADBUFFERPROC)(GLenum src); - GLAPI PFNGLREADBUFFERPROC glad_glReadBuffer; -#define glReadBuffer glad_glReadBuffer - typedef void(APIENTRYP PFNGLREADPIXELSPROC)(GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels); - GLAPI PFNGLREADPIXELSPROC glad_glReadPixels; -#define glReadPixels glad_glReadPixels - typedef void(APIENTRYP PFNGLGETBOOLEANVPROC)(GLenum pname, GLboolean *data); - GLAPI PFNGLGETBOOLEANVPROC glad_glGetBooleanv; -#define glGetBooleanv glad_glGetBooleanv - typedef void(APIENTRYP PFNGLGETDOUBLEVPROC)(GLenum pname, GLdouble *data); - GLAPI PFNGLGETDOUBLEVPROC glad_glGetDoublev; -#define glGetDoublev glad_glGetDoublev - typedef GLenum(APIENTRYP PFNGLGETERRORPROC)(void); - GLAPI PFNGLGETERRORPROC glad_glGetError; -#define glGetError glad_glGetError - typedef void(APIENTRYP PFNGLGETFLOATVPROC)(GLenum pname, GLfloat *data); - GLAPI PFNGLGETFLOATVPROC glad_glGetFloatv; -#define glGetFloatv glad_glGetFloatv - typedef void(APIENTRYP PFNGLGETINTEGERVPROC)(GLenum pname, GLint *data); - GLAPI PFNGLGETINTEGERVPROC glad_glGetIntegerv; -#define glGetIntegerv glad_glGetIntegerv - typedef const GLubyte *(APIENTRYP PFNGLGETSTRINGPROC)(GLenum name); - GLAPI PFNGLGETSTRINGPROC glad_glGetString; -#define glGetString glad_glGetString - typedef void(APIENTRYP PFNGLGETTEXIMAGEPROC)(GLenum target, GLint level, GLenum format, GLenum type, void *pixels); - GLAPI PFNGLGETTEXIMAGEPROC glad_glGetTexImage; -#define glGetTexImage glad_glGetTexImage - typedef void(APIENTRYP PFNGLGETTEXPARAMETERFVPROC)(GLenum target, GLenum pname, GLfloat *params); - GLAPI PFNGLGETTEXPARAMETERFVPROC glad_glGetTexParameterfv; -#define glGetTexParameterfv glad_glGetTexParameterfv - typedef void(APIENTRYP PFNGLGETTEXPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params); - GLAPI PFNGLGETTEXPARAMETERIVPROC glad_glGetTexParameteriv; -#define glGetTexParameteriv glad_glGetTexParameteriv - typedef void(APIENTRYP PFNGLGETTEXLEVELPARAMETERFVPROC)(GLenum target, GLint level, GLenum pname, GLfloat *params); - GLAPI PFNGLGETTEXLEVELPARAMETERFVPROC glad_glGetTexLevelParameterfv; -#define glGetTexLevelParameterfv glad_glGetTexLevelParameterfv - typedef void(APIENTRYP PFNGLGETTEXLEVELPARAMETERIVPROC)(GLenum target, GLint level, GLenum pname, GLint *params); - GLAPI PFNGLGETTEXLEVELPARAMETERIVPROC glad_glGetTexLevelParameteriv; -#define glGetTexLevelParameteriv glad_glGetTexLevelParameteriv - typedef GLboolean(APIENTRYP PFNGLISENABLEDPROC)(GLenum cap); - GLAPI PFNGLISENABLEDPROC glad_glIsEnabled; -#define glIsEnabled glad_glIsEnabled - typedef void(APIENTRYP PFNGLDEPTHRANGEPROC)(GLdouble n, GLdouble f); - GLAPI PFNGLDEPTHRANGEPROC glad_glDepthRange; -#define glDepthRange glad_glDepthRange - typedef void(APIENTRYP PFNGLVIEWPORTPROC)(GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLVIEWPORTPROC glad_glViewport; -#define glViewport glad_glViewport -#endif -#ifndef GL_VERSION_1_1 -#define GL_VERSION_1_1 1 - GLAPI int GLAD_GL_VERSION_1_1; - typedef void(APIENTRYP PFNGLDRAWARRAYSPROC)(GLenum mode, GLint first, GLsizei count); - GLAPI PFNGLDRAWARRAYSPROC glad_glDrawArrays; -#define glDrawArrays glad_glDrawArrays - typedef void(APIENTRYP PFNGLDRAWELEMENTSPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices); - GLAPI PFNGLDRAWELEMENTSPROC glad_glDrawElements; -#define glDrawElements glad_glDrawElements - typedef void(APIENTRYP PFNGLPOLYGONOFFSETPROC)(GLfloat factor, GLfloat units); - GLAPI PFNGLPOLYGONOFFSETPROC glad_glPolygonOffset; -#define glPolygonOffset glad_glPolygonOffset - typedef void(APIENTRYP PFNGLCOPYTEXIMAGE1DPROC)(GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); - GLAPI PFNGLCOPYTEXIMAGE1DPROC glad_glCopyTexImage1D; -#define glCopyTexImage1D glad_glCopyTexImage1D - typedef void(APIENTRYP PFNGLCOPYTEXIMAGE2DPROC)(GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); - GLAPI PFNGLCOPYTEXIMAGE2DPROC glad_glCopyTexImage2D; -#define glCopyTexImage2D glad_glCopyTexImage2D - typedef void(APIENTRYP PFNGLCOPYTEXSUBIMAGE1DPROC)(GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); - GLAPI PFNGLCOPYTEXSUBIMAGE1DPROC glad_glCopyTexSubImage1D; -#define glCopyTexSubImage1D glad_glCopyTexSubImage1D - typedef void(APIENTRYP PFNGLCOPYTEXSUBIMAGE2DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLCOPYTEXSUBIMAGE2DPROC glad_glCopyTexSubImage2D; -#define glCopyTexSubImage2D glad_glCopyTexSubImage2D - typedef void(APIENTRYP PFNGLTEXSUBIMAGE1DPROC)(GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXSUBIMAGE1DPROC glad_glTexSubImage1D; -#define glTexSubImage1D glad_glTexSubImage1D - typedef void(APIENTRYP PFNGLTEXSUBIMAGE2DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXSUBIMAGE2DPROC glad_glTexSubImage2D; -#define glTexSubImage2D glad_glTexSubImage2D - typedef void(APIENTRYP PFNGLBINDTEXTUREPROC)(GLenum target, GLuint texture); - GLAPI PFNGLBINDTEXTUREPROC glad_glBindTexture; -#define glBindTexture glad_glBindTexture - typedef void(APIENTRYP PFNGLDELETETEXTURESPROC)(GLsizei n, const GLuint *textures); - GLAPI PFNGLDELETETEXTURESPROC glad_glDeleteTextures; -#define glDeleteTextures glad_glDeleteTextures - typedef void(APIENTRYP PFNGLGENTEXTURESPROC)(GLsizei n, GLuint *textures); - GLAPI PFNGLGENTEXTURESPROC glad_glGenTextures; -#define glGenTextures glad_glGenTextures - typedef GLboolean(APIENTRYP PFNGLISTEXTUREPROC)(GLuint texture); - GLAPI PFNGLISTEXTUREPROC glad_glIsTexture; -#define glIsTexture glad_glIsTexture -#endif -#ifndef GL_VERSION_1_2 -#define GL_VERSION_1_2 1 - GLAPI int GLAD_GL_VERSION_1_2; - typedef void(APIENTRYP PFNGLDRAWRANGEELEMENTSPROC)(GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices); - GLAPI PFNGLDRAWRANGEELEMENTSPROC glad_glDrawRangeElements; -#define glDrawRangeElements glad_glDrawRangeElements - typedef void(APIENTRYP PFNGLTEXIMAGE3DPROC)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXIMAGE3DPROC glad_glTexImage3D; -#define glTexImage3D glad_glTexImage3D - typedef void(APIENTRYP PFNGLTEXSUBIMAGE3DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXSUBIMAGE3DPROC glad_glTexSubImage3D; -#define glTexSubImage3D glad_glTexSubImage3D - typedef void(APIENTRYP PFNGLCOPYTEXSUBIMAGE3DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLCOPYTEXSUBIMAGE3DPROC glad_glCopyTexSubImage3D; -#define glCopyTexSubImage3D glad_glCopyTexSubImage3D -#endif -#ifndef GL_VERSION_1_3 -#define GL_VERSION_1_3 1 - GLAPI int GLAD_GL_VERSION_1_3; - typedef void(APIENTRYP PFNGLACTIVETEXTUREPROC)(GLenum texture); - GLAPI PFNGLACTIVETEXTUREPROC glad_glActiveTexture; -#define glActiveTexture glad_glActiveTexture - typedef void(APIENTRYP PFNGLSAMPLECOVERAGEPROC)(GLfloat value, GLboolean invert); - GLAPI PFNGLSAMPLECOVERAGEPROC glad_glSampleCoverage; -#define glSampleCoverage glad_glSampleCoverage - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DPROC)(GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXIMAGE3DPROC glad_glCompressedTexImage3D; -#define glCompressedTexImage3D glad_glCompressedTexImage3D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC)(GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXIMAGE2DPROC glad_glCompressedTexImage2D; -#define glCompressedTexImage2D glad_glCompressedTexImage2D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DPROC)(GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXIMAGE1DPROC glad_glCompressedTexImage1D; -#define glCompressedTexImage1D glad_glCompressedTexImage1D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC glad_glCompressedTexSubImage3D; -#define glCompressedTexSubImage3D glad_glCompressedTexSubImage3D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC glad_glCompressedTexSubImage2D; -#define glCompressedTexSubImage2D glad_glCompressedTexSubImage2D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC)(GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC glad_glCompressedTexSubImage1D; -#define glCompressedTexSubImage1D glad_glCompressedTexSubImage1D - typedef void(APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEPROC)(GLenum target, GLint level, void *img); - GLAPI PFNGLGETCOMPRESSEDTEXIMAGEPROC glad_glGetCompressedTexImage; -#define glGetCompressedTexImage glad_glGetCompressedTexImage -#endif -#ifndef GL_VERSION_1_4 -#define GL_VERSION_1_4 1 - GLAPI int GLAD_GL_VERSION_1_4; - typedef void(APIENTRYP PFNGLBLENDFUNCSEPARATEPROC)(GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); - GLAPI PFNGLBLENDFUNCSEPARATEPROC glad_glBlendFuncSeparate; -#define glBlendFuncSeparate glad_glBlendFuncSeparate - typedef void(APIENTRYP PFNGLMULTIDRAWARRAYSPROC)(GLenum mode, const GLint *first, const GLsizei *count, GLsizei drawcount); - GLAPI PFNGLMULTIDRAWARRAYSPROC glad_glMultiDrawArrays; -#define glMultiDrawArrays glad_glMultiDrawArrays - typedef void(APIENTRYP PFNGLMULTIDRAWELEMENTSPROC)(GLenum mode, const GLsizei *count, GLenum type, const void *const *indices, GLsizei drawcount); - GLAPI PFNGLMULTIDRAWELEMENTSPROC glad_glMultiDrawElements; -#define glMultiDrawElements glad_glMultiDrawElements - typedef void(APIENTRYP PFNGLPOINTPARAMETERFPROC)(GLenum pname, GLfloat param); - GLAPI PFNGLPOINTPARAMETERFPROC glad_glPointParameterf; -#define glPointParameterf glad_glPointParameterf - typedef void(APIENTRYP PFNGLPOINTPARAMETERFVPROC)(GLenum pname, const GLfloat *params); - GLAPI PFNGLPOINTPARAMETERFVPROC glad_glPointParameterfv; -#define glPointParameterfv glad_glPointParameterfv - typedef void(APIENTRYP PFNGLPOINTPARAMETERIPROC)(GLenum pname, GLint param); - GLAPI PFNGLPOINTPARAMETERIPROC glad_glPointParameteri; -#define glPointParameteri glad_glPointParameteri - typedef void(APIENTRYP PFNGLPOINTPARAMETERIVPROC)(GLenum pname, const GLint *params); - GLAPI PFNGLPOINTPARAMETERIVPROC glad_glPointParameteriv; -#define glPointParameteriv glad_glPointParameteriv - typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); - GLAPI PFNGLBLENDCOLORPROC glad_glBlendColor; -#define glBlendColor glad_glBlendColor - typedef void(APIENTRYP PFNGLBLENDEQUATIONPROC)(GLenum mode); - GLAPI PFNGLBLENDEQUATIONPROC glad_glBlendEquation; -#define glBlendEquation glad_glBlendEquation -#endif -#ifndef GL_VERSION_1_5 -#define GL_VERSION_1_5 1 - GLAPI int GLAD_GL_VERSION_1_5; - typedef void(APIENTRYP PFNGLGENQUERIESPROC)(GLsizei n, GLuint *ids); - GLAPI PFNGLGENQUERIESPROC glad_glGenQueries; -#define glGenQueries glad_glGenQueries - typedef void(APIENTRYP PFNGLDELETEQUERIESPROC)(GLsizei n, const GLuint *ids); - GLAPI PFNGLDELETEQUERIESPROC glad_glDeleteQueries; -#define glDeleteQueries glad_glDeleteQueries - typedef GLboolean(APIENTRYP PFNGLISQUERYPROC)(GLuint id); - GLAPI PFNGLISQUERYPROC glad_glIsQuery; -#define glIsQuery glad_glIsQuery - typedef void(APIENTRYP PFNGLBEGINQUERYPROC)(GLenum target, GLuint id); - GLAPI PFNGLBEGINQUERYPROC glad_glBeginQuery; -#define glBeginQuery glad_glBeginQuery - typedef void(APIENTRYP PFNGLENDQUERYPROC)(GLenum target); - GLAPI PFNGLENDQUERYPROC glad_glEndQuery; -#define glEndQuery glad_glEndQuery - typedef void(APIENTRYP PFNGLGETQUERYIVPROC)(GLenum target, GLenum pname, GLint *params); - GLAPI PFNGLGETQUERYIVPROC glad_glGetQueryiv; -#define glGetQueryiv glad_glGetQueryiv - typedef void(APIENTRYP PFNGLGETQUERYOBJECTIVPROC)(GLuint id, GLenum pname, GLint *params); - GLAPI PFNGLGETQUERYOBJECTIVPROC glad_glGetQueryObjectiv; -#define glGetQueryObjectiv glad_glGetQueryObjectiv - typedef void(APIENTRYP PFNGLGETQUERYOBJECTUIVPROC)(GLuint id, GLenum pname, GLuint *params); - GLAPI PFNGLGETQUERYOBJECTUIVPROC glad_glGetQueryObjectuiv; -#define glGetQueryObjectuiv glad_glGetQueryObjectuiv - typedef void(APIENTRYP PFNGLBINDBUFFERPROC)(GLenum target, GLuint buffer); - GLAPI PFNGLBINDBUFFERPROC glad_glBindBuffer; -#define glBindBuffer glad_glBindBuffer - typedef void(APIENTRYP PFNGLDELETEBUFFERSPROC)(GLsizei n, const GLuint *buffers); - GLAPI PFNGLDELETEBUFFERSPROC glad_glDeleteBuffers; -#define glDeleteBuffers glad_glDeleteBuffers - typedef void(APIENTRYP PFNGLGENBUFFERSPROC)(GLsizei n, GLuint *buffers); - GLAPI PFNGLGENBUFFERSPROC glad_glGenBuffers; -#define glGenBuffers glad_glGenBuffers - typedef GLboolean(APIENTRYP PFNGLISBUFFERPROC)(GLuint buffer); - GLAPI PFNGLISBUFFERPROC glad_glIsBuffer; -#define glIsBuffer glad_glIsBuffer - typedef void(APIENTRYP PFNGLBUFFERDATAPROC)(GLenum target, GLsizeiptr size, const void *data, GLenum usage); - GLAPI PFNGLBUFFERDATAPROC glad_glBufferData; -#define glBufferData glad_glBufferData - typedef void(APIENTRYP PFNGLBUFFERSUBDATAPROC)(GLenum target, GLintptr offset, GLsizeiptr size, const void *data); - GLAPI PFNGLBUFFERSUBDATAPROC glad_glBufferSubData; -#define glBufferSubData glad_glBufferSubData - typedef void(APIENTRYP PFNGLGETBUFFERSUBDATAPROC)(GLenum target, GLintptr offset, GLsizeiptr size, void *data); - GLAPI PFNGLGETBUFFERSUBDATAPROC glad_glGetBufferSubData; -#define glGetBufferSubData glad_glGetBufferSubData - typedef void *(APIENTRYP PFNGLMAPBUFFERPROC)(GLenum target, GLenum access); - GLAPI PFNGLMAPBUFFERPROC glad_glMapBuffer; -#define glMapBuffer glad_glMapBuffer - typedef GLboolean(APIENTRYP PFNGLUNMAPBUFFERPROC)(GLenum target); - GLAPI PFNGLUNMAPBUFFERPROC glad_glUnmapBuffer; -#define glUnmapBuffer glad_glUnmapBuffer - typedef void(APIENTRYP PFNGLGETBUFFERPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params); - GLAPI PFNGLGETBUFFERPARAMETERIVPROC glad_glGetBufferParameteriv; -#define glGetBufferParameteriv glad_glGetBufferParameteriv - typedef void(APIENTRYP PFNGLGETBUFFERPOINTERVPROC)(GLenum target, GLenum pname, void **params); - GLAPI PFNGLGETBUFFERPOINTERVPROC glad_glGetBufferPointerv; -#define glGetBufferPointerv glad_glGetBufferPointerv -#endif -#ifndef GL_VERSION_2_0 -#define GL_VERSION_2_0 1 - GLAPI int GLAD_GL_VERSION_2_0; - typedef void(APIENTRYP PFNGLBLENDEQUATIONSEPARATEPROC)(GLenum modeRGB, GLenum modeAlpha); - GLAPI PFNGLBLENDEQUATIONSEPARATEPROC glad_glBlendEquationSeparate; -#define glBlendEquationSeparate glad_glBlendEquationSeparate - typedef void(APIENTRYP PFNGLDRAWBUFFERSPROC)(GLsizei n, const GLenum *bufs); - GLAPI PFNGLDRAWBUFFERSPROC glad_glDrawBuffers; -#define glDrawBuffers glad_glDrawBuffers - typedef void(APIENTRYP PFNGLSTENCILOPSEPARATEPROC)(GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); - GLAPI PFNGLSTENCILOPSEPARATEPROC glad_glStencilOpSeparate; -#define glStencilOpSeparate glad_glStencilOpSeparate - typedef void(APIENTRYP PFNGLSTENCILFUNCSEPARATEPROC)(GLenum face, GLenum func, GLint ref, GLuint mask); - GLAPI PFNGLSTENCILFUNCSEPARATEPROC glad_glStencilFuncSeparate; -#define glStencilFuncSeparate glad_glStencilFuncSeparate - typedef void(APIENTRYP PFNGLSTENCILMASKSEPARATEPROC)(GLenum face, GLuint mask); - GLAPI PFNGLSTENCILMASKSEPARATEPROC glad_glStencilMaskSeparate; -#define glStencilMaskSeparate glad_glStencilMaskSeparate - typedef void(APIENTRYP PFNGLATTACHSHADERPROC)(GLuint program, GLuint shader); - GLAPI PFNGLATTACHSHADERPROC glad_glAttachShader; -#define glAttachShader glad_glAttachShader - typedef void(APIENTRYP PFNGLBINDATTRIBLOCATIONPROC)(GLuint program, GLuint index, const GLchar *name); - GLAPI PFNGLBINDATTRIBLOCATIONPROC glad_glBindAttribLocation; -#define glBindAttribLocation glad_glBindAttribLocation - typedef void(APIENTRYP PFNGLCOMPILESHADERPROC)(GLuint shader); - GLAPI PFNGLCOMPILESHADERPROC glad_glCompileShader; -#define glCompileShader glad_glCompileShader - typedef GLuint(APIENTRYP PFNGLCREATEPROGRAMPROC)(void); - GLAPI PFNGLCREATEPROGRAMPROC glad_glCreateProgram; -#define glCreateProgram glad_glCreateProgram - typedef GLuint(APIENTRYP PFNGLCREATESHADERPROC)(GLenum type); - GLAPI PFNGLCREATESHADERPROC glad_glCreateShader; -#define glCreateShader glad_glCreateShader - typedef void(APIENTRYP PFNGLDELETEPROGRAMPROC)(GLuint program); - GLAPI PFNGLDELETEPROGRAMPROC glad_glDeleteProgram; -#define glDeleteProgram glad_glDeleteProgram - typedef void(APIENTRYP PFNGLDELETESHADERPROC)(GLuint shader); - GLAPI PFNGLDELETESHADERPROC glad_glDeleteShader; -#define glDeleteShader glad_glDeleteShader - typedef void(APIENTRYP PFNGLDETACHSHADERPROC)(GLuint program, GLuint shader); - GLAPI PFNGLDETACHSHADERPROC glad_glDetachShader; -#define glDetachShader glad_glDetachShader - typedef void(APIENTRYP PFNGLDISABLEVERTEXATTRIBARRAYPROC)(GLuint index); - GLAPI PFNGLDISABLEVERTEXATTRIBARRAYPROC glad_glDisableVertexAttribArray; -#define glDisableVertexAttribArray glad_glDisableVertexAttribArray - typedef void(APIENTRYP PFNGLENABLEVERTEXATTRIBARRAYPROC)(GLuint index); - GLAPI PFNGLENABLEVERTEXATTRIBARRAYPROC glad_glEnableVertexAttribArray; -#define glEnableVertexAttribArray glad_glEnableVertexAttribArray - typedef void(APIENTRYP PFNGLGETACTIVEATTRIBPROC)(GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); - GLAPI PFNGLGETACTIVEATTRIBPROC glad_glGetActiveAttrib; -#define glGetActiveAttrib glad_glGetActiveAttrib - typedef void(APIENTRYP PFNGLGETACTIVEUNIFORMPROC)(GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name); - GLAPI PFNGLGETACTIVEUNIFORMPROC glad_glGetActiveUniform; -#define glGetActiveUniform glad_glGetActiveUniform - typedef void(APIENTRYP PFNGLGETATTACHEDSHADERSPROC)(GLuint program, GLsizei maxCount, GLsizei *count, GLuint *shaders); - GLAPI PFNGLGETATTACHEDSHADERSPROC glad_glGetAttachedShaders; -#define glGetAttachedShaders glad_glGetAttachedShaders - typedef GLint(APIENTRYP PFNGLGETATTRIBLOCATIONPROC)(GLuint program, const GLchar *name); - GLAPI PFNGLGETATTRIBLOCATIONPROC glad_glGetAttribLocation; -#define glGetAttribLocation glad_glGetAttribLocation - typedef void(APIENTRYP PFNGLGETPROGRAMIVPROC)(GLuint program, GLenum pname, GLint *params); - GLAPI PFNGLGETPROGRAMIVPROC glad_glGetProgramiv; -#define glGetProgramiv glad_glGetProgramiv - typedef void(APIENTRYP PFNGLGETPROGRAMINFOLOGPROC)(GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog); - GLAPI PFNGLGETPROGRAMINFOLOGPROC glad_glGetProgramInfoLog; -#define glGetProgramInfoLog glad_glGetProgramInfoLog - typedef void(APIENTRYP PFNGLGETSHADERIVPROC)(GLuint shader, GLenum pname, GLint *params); - GLAPI PFNGLGETSHADERIVPROC glad_glGetShaderiv; -#define glGetShaderiv glad_glGetShaderiv - typedef void(APIENTRYP PFNGLGETSHADERINFOLOGPROC)(GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog); - GLAPI PFNGLGETSHADERINFOLOGPROC glad_glGetShaderInfoLog; -#define glGetShaderInfoLog glad_glGetShaderInfoLog - typedef void(APIENTRYP PFNGLGETSHADERSOURCEPROC)(GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source); - GLAPI PFNGLGETSHADERSOURCEPROC glad_glGetShaderSource; -#define glGetShaderSource glad_glGetShaderSource - typedef GLint(APIENTRYP PFNGLGETUNIFORMLOCATIONPROC)(GLuint program, const GLchar *name); - GLAPI PFNGLGETUNIFORMLOCATIONPROC glad_glGetUniformLocation; -#define glGetUniformLocation glad_glGetUniformLocation - typedef void(APIENTRYP PFNGLGETUNIFORMFVPROC)(GLuint program, GLint location, GLfloat *params); - GLAPI PFNGLGETUNIFORMFVPROC glad_glGetUniformfv; -#define glGetUniformfv glad_glGetUniformfv - typedef void(APIENTRYP PFNGLGETUNIFORMIVPROC)(GLuint program, GLint location, GLint *params); - GLAPI PFNGLGETUNIFORMIVPROC glad_glGetUniformiv; -#define glGetUniformiv glad_glGetUniformiv - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBDVPROC)(GLuint index, GLenum pname, GLdouble *params); - GLAPI PFNGLGETVERTEXATTRIBDVPROC glad_glGetVertexAttribdv; -#define glGetVertexAttribdv glad_glGetVertexAttribdv - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBFVPROC)(GLuint index, GLenum pname, GLfloat *params); - GLAPI PFNGLGETVERTEXATTRIBFVPROC glad_glGetVertexAttribfv; -#define glGetVertexAttribfv glad_glGetVertexAttribfv - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBIVPROC)(GLuint index, GLenum pname, GLint *params); - GLAPI PFNGLGETVERTEXATTRIBIVPROC glad_glGetVertexAttribiv; -#define glGetVertexAttribiv glad_glGetVertexAttribiv - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBPOINTERVPROC)(GLuint index, GLenum pname, void **pointer); - GLAPI PFNGLGETVERTEXATTRIBPOINTERVPROC glad_glGetVertexAttribPointerv; -#define glGetVertexAttribPointerv glad_glGetVertexAttribPointerv - typedef GLboolean(APIENTRYP PFNGLISPROGRAMPROC)(GLuint program); - GLAPI PFNGLISPROGRAMPROC glad_glIsProgram; -#define glIsProgram glad_glIsProgram - typedef GLboolean(APIENTRYP PFNGLISSHADERPROC)(GLuint shader); - GLAPI PFNGLISSHADERPROC glad_glIsShader; -#define glIsShader glad_glIsShader - typedef void(APIENTRYP PFNGLLINKPROGRAMPROC)(GLuint program); - GLAPI PFNGLLINKPROGRAMPROC glad_glLinkProgram; -#define glLinkProgram glad_glLinkProgram - typedef void(APIENTRYP PFNGLSHADERSOURCEPROC)(GLuint shader, GLsizei count, const GLchar *const *string, const GLint *length); - GLAPI PFNGLSHADERSOURCEPROC glad_glShaderSource; -#define glShaderSource glad_glShaderSource - typedef void(APIENTRYP PFNGLUSEPROGRAMPROC)(GLuint program); - GLAPI PFNGLUSEPROGRAMPROC glad_glUseProgram; -#define glUseProgram glad_glUseProgram - typedef void(APIENTRYP PFNGLUNIFORM1FPROC)(GLint location, GLfloat v0); - GLAPI PFNGLUNIFORM1FPROC glad_glUniform1f; -#define glUniform1f glad_glUniform1f - typedef void(APIENTRYP PFNGLUNIFORM2FPROC)(GLint location, GLfloat v0, GLfloat v1); - GLAPI PFNGLUNIFORM2FPROC glad_glUniform2f; -#define glUniform2f glad_glUniform2f - typedef void(APIENTRYP PFNGLUNIFORM3FPROC)(GLint location, GLfloat v0, GLfloat v1, GLfloat v2); - GLAPI PFNGLUNIFORM3FPROC glad_glUniform3f; -#define glUniform3f glad_glUniform3f - typedef void(APIENTRYP PFNGLUNIFORM4FPROC)(GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); - GLAPI PFNGLUNIFORM4FPROC glad_glUniform4f; -#define glUniform4f glad_glUniform4f - typedef void(APIENTRYP PFNGLUNIFORM1IPROC)(GLint location, GLint v0); - GLAPI PFNGLUNIFORM1IPROC glad_glUniform1i; -#define glUniform1i glad_glUniform1i - typedef void(APIENTRYP PFNGLUNIFORM2IPROC)(GLint location, GLint v0, GLint v1); - GLAPI PFNGLUNIFORM2IPROC glad_glUniform2i; -#define glUniform2i glad_glUniform2i - typedef void(APIENTRYP PFNGLUNIFORM3IPROC)(GLint location, GLint v0, GLint v1, GLint v2); - GLAPI PFNGLUNIFORM3IPROC glad_glUniform3i; -#define glUniform3i glad_glUniform3i - typedef void(APIENTRYP PFNGLUNIFORM4IPROC)(GLint location, GLint v0, GLint v1, GLint v2, GLint v3); - GLAPI PFNGLUNIFORM4IPROC glad_glUniform4i; -#define glUniform4i glad_glUniform4i - typedef void(APIENTRYP PFNGLUNIFORM1FVPROC)(GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLUNIFORM1FVPROC glad_glUniform1fv; -#define glUniform1fv glad_glUniform1fv - typedef void(APIENTRYP PFNGLUNIFORM2FVPROC)(GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLUNIFORM2FVPROC glad_glUniform2fv; -#define glUniform2fv glad_glUniform2fv - typedef void(APIENTRYP PFNGLUNIFORM3FVPROC)(GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLUNIFORM3FVPROC glad_glUniform3fv; -#define glUniform3fv glad_glUniform3fv - typedef void(APIENTRYP PFNGLUNIFORM4FVPROC)(GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLUNIFORM4FVPROC glad_glUniform4fv; -#define glUniform4fv glad_glUniform4fv - typedef void(APIENTRYP PFNGLUNIFORM1IVPROC)(GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLUNIFORM1IVPROC glad_glUniform1iv; -#define glUniform1iv glad_glUniform1iv - typedef void(APIENTRYP PFNGLUNIFORM2IVPROC)(GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLUNIFORM2IVPROC glad_glUniform2iv; -#define glUniform2iv glad_glUniform2iv - typedef void(APIENTRYP PFNGLUNIFORM3IVPROC)(GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLUNIFORM3IVPROC glad_glUniform3iv; -#define glUniform3iv glad_glUniform3iv - typedef void(APIENTRYP PFNGLUNIFORM4IVPROC)(GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLUNIFORM4IVPROC glad_glUniform4iv; -#define glUniform4iv glad_glUniform4iv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX2FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX2FVPROC glad_glUniformMatrix2fv; -#define glUniformMatrix2fv glad_glUniformMatrix2fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX3FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX3FVPROC glad_glUniformMatrix3fv; -#define glUniformMatrix3fv glad_glUniformMatrix3fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX4FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX4FVPROC glad_glUniformMatrix4fv; -#define glUniformMatrix4fv glad_glUniformMatrix4fv - typedef void(APIENTRYP PFNGLVALIDATEPROGRAMPROC)(GLuint program); - GLAPI PFNGLVALIDATEPROGRAMPROC glad_glValidateProgram; -#define glValidateProgram glad_glValidateProgram - typedef void(APIENTRYP PFNGLVERTEXATTRIB1DPROC)(GLuint index, GLdouble x); - GLAPI PFNGLVERTEXATTRIB1DPROC glad_glVertexAttrib1d; -#define glVertexAttrib1d glad_glVertexAttrib1d - typedef void(APIENTRYP PFNGLVERTEXATTRIB1DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIB1DVPROC glad_glVertexAttrib1dv; -#define glVertexAttrib1dv glad_glVertexAttrib1dv - typedef void(APIENTRYP PFNGLVERTEXATTRIB1FPROC)(GLuint index, GLfloat x); - GLAPI PFNGLVERTEXATTRIB1FPROC glad_glVertexAttrib1f; -#define glVertexAttrib1f glad_glVertexAttrib1f - typedef void(APIENTRYP PFNGLVERTEXATTRIB1FVPROC)(GLuint index, const GLfloat *v); - GLAPI PFNGLVERTEXATTRIB1FVPROC glad_glVertexAttrib1fv; -#define glVertexAttrib1fv glad_glVertexAttrib1fv - typedef void(APIENTRYP PFNGLVERTEXATTRIB1SPROC)(GLuint index, GLshort x); - GLAPI PFNGLVERTEXATTRIB1SPROC glad_glVertexAttrib1s; -#define glVertexAttrib1s glad_glVertexAttrib1s - typedef void(APIENTRYP PFNGLVERTEXATTRIB1SVPROC)(GLuint index, const GLshort *v); - GLAPI PFNGLVERTEXATTRIB1SVPROC glad_glVertexAttrib1sv; -#define glVertexAttrib1sv glad_glVertexAttrib1sv - typedef void(APIENTRYP PFNGLVERTEXATTRIB2DPROC)(GLuint index, GLdouble x, GLdouble y); - GLAPI PFNGLVERTEXATTRIB2DPROC glad_glVertexAttrib2d; -#define glVertexAttrib2d glad_glVertexAttrib2d - typedef void(APIENTRYP PFNGLVERTEXATTRIB2DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIB2DVPROC glad_glVertexAttrib2dv; -#define glVertexAttrib2dv glad_glVertexAttrib2dv - typedef void(APIENTRYP PFNGLVERTEXATTRIB2FPROC)(GLuint index, GLfloat x, GLfloat y); - GLAPI PFNGLVERTEXATTRIB2FPROC glad_glVertexAttrib2f; -#define glVertexAttrib2f glad_glVertexAttrib2f - typedef void(APIENTRYP PFNGLVERTEXATTRIB2FVPROC)(GLuint index, const GLfloat *v); - GLAPI PFNGLVERTEXATTRIB2FVPROC glad_glVertexAttrib2fv; -#define glVertexAttrib2fv glad_glVertexAttrib2fv - typedef void(APIENTRYP PFNGLVERTEXATTRIB2SPROC)(GLuint index, GLshort x, GLshort y); - GLAPI PFNGLVERTEXATTRIB2SPROC glad_glVertexAttrib2s; -#define glVertexAttrib2s glad_glVertexAttrib2s - typedef void(APIENTRYP PFNGLVERTEXATTRIB2SVPROC)(GLuint index, const GLshort *v); - GLAPI PFNGLVERTEXATTRIB2SVPROC glad_glVertexAttrib2sv; -#define glVertexAttrib2sv glad_glVertexAttrib2sv - typedef void(APIENTRYP PFNGLVERTEXATTRIB3DPROC)(GLuint index, GLdouble x, GLdouble y, GLdouble z); - GLAPI PFNGLVERTEXATTRIB3DPROC glad_glVertexAttrib3d; -#define glVertexAttrib3d glad_glVertexAttrib3d - typedef void(APIENTRYP PFNGLVERTEXATTRIB3DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIB3DVPROC glad_glVertexAttrib3dv; -#define glVertexAttrib3dv glad_glVertexAttrib3dv - typedef void(APIENTRYP PFNGLVERTEXATTRIB3FPROC)(GLuint index, GLfloat x, GLfloat y, GLfloat z); - GLAPI PFNGLVERTEXATTRIB3FPROC glad_glVertexAttrib3f; -#define glVertexAttrib3f glad_glVertexAttrib3f - typedef void(APIENTRYP PFNGLVERTEXATTRIB3FVPROC)(GLuint index, const GLfloat *v); - GLAPI PFNGLVERTEXATTRIB3FVPROC glad_glVertexAttrib3fv; -#define glVertexAttrib3fv glad_glVertexAttrib3fv - typedef void(APIENTRYP PFNGLVERTEXATTRIB3SPROC)(GLuint index, GLshort x, GLshort y, GLshort z); - GLAPI PFNGLVERTEXATTRIB3SPROC glad_glVertexAttrib3s; -#define glVertexAttrib3s glad_glVertexAttrib3s - typedef void(APIENTRYP PFNGLVERTEXATTRIB3SVPROC)(GLuint index, const GLshort *v); - GLAPI PFNGLVERTEXATTRIB3SVPROC glad_glVertexAttrib3sv; -#define glVertexAttrib3sv glad_glVertexAttrib3sv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NBVPROC)(GLuint index, const GLbyte *v); - GLAPI PFNGLVERTEXATTRIB4NBVPROC glad_glVertexAttrib4Nbv; -#define glVertexAttrib4Nbv glad_glVertexAttrib4Nbv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NIVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLVERTEXATTRIB4NIVPROC glad_glVertexAttrib4Niv; -#define glVertexAttrib4Niv glad_glVertexAttrib4Niv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NSVPROC)(GLuint index, const GLshort *v); - GLAPI PFNGLVERTEXATTRIB4NSVPROC glad_glVertexAttrib4Nsv; -#define glVertexAttrib4Nsv glad_glVertexAttrib4Nsv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NUBPROC)(GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); - GLAPI PFNGLVERTEXATTRIB4NUBPROC glad_glVertexAttrib4Nub; -#define glVertexAttrib4Nub glad_glVertexAttrib4Nub - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NUBVPROC)(GLuint index, const GLubyte *v); - GLAPI PFNGLVERTEXATTRIB4NUBVPROC glad_glVertexAttrib4Nubv; -#define glVertexAttrib4Nubv glad_glVertexAttrib4Nubv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NUIVPROC)(GLuint index, const GLuint *v); - GLAPI PFNGLVERTEXATTRIB4NUIVPROC glad_glVertexAttrib4Nuiv; -#define glVertexAttrib4Nuiv glad_glVertexAttrib4Nuiv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4NUSVPROC)(GLuint index, const GLushort *v); - GLAPI PFNGLVERTEXATTRIB4NUSVPROC glad_glVertexAttrib4Nusv; -#define glVertexAttrib4Nusv glad_glVertexAttrib4Nusv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4BVPROC)(GLuint index, const GLbyte *v); - GLAPI PFNGLVERTEXATTRIB4BVPROC glad_glVertexAttrib4bv; -#define glVertexAttrib4bv glad_glVertexAttrib4bv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4DPROC)(GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); - GLAPI PFNGLVERTEXATTRIB4DPROC glad_glVertexAttrib4d; -#define glVertexAttrib4d glad_glVertexAttrib4d - typedef void(APIENTRYP PFNGLVERTEXATTRIB4DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIB4DVPROC glad_glVertexAttrib4dv; -#define glVertexAttrib4dv glad_glVertexAttrib4dv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4FPROC)(GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); - GLAPI PFNGLVERTEXATTRIB4FPROC glad_glVertexAttrib4f; -#define glVertexAttrib4f glad_glVertexAttrib4f - typedef void(APIENTRYP PFNGLVERTEXATTRIB4FVPROC)(GLuint index, const GLfloat *v); - GLAPI PFNGLVERTEXATTRIB4FVPROC glad_glVertexAttrib4fv; -#define glVertexAttrib4fv glad_glVertexAttrib4fv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4IVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLVERTEXATTRIB4IVPROC glad_glVertexAttrib4iv; -#define glVertexAttrib4iv glad_glVertexAttrib4iv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4SPROC)(GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); - GLAPI PFNGLVERTEXATTRIB4SPROC glad_glVertexAttrib4s; -#define glVertexAttrib4s glad_glVertexAttrib4s - typedef void(APIENTRYP PFNGLVERTEXATTRIB4SVPROC)(GLuint index, const GLshort *v); - GLAPI PFNGLVERTEXATTRIB4SVPROC glad_glVertexAttrib4sv; -#define glVertexAttrib4sv glad_glVertexAttrib4sv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4UBVPROC)(GLuint index, const GLubyte *v); - GLAPI PFNGLVERTEXATTRIB4UBVPROC glad_glVertexAttrib4ubv; -#define glVertexAttrib4ubv glad_glVertexAttrib4ubv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4UIVPROC)(GLuint index, const GLuint *v); - GLAPI PFNGLVERTEXATTRIB4UIVPROC glad_glVertexAttrib4uiv; -#define glVertexAttrib4uiv glad_glVertexAttrib4uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIB4USVPROC)(GLuint index, const GLushort *v); - GLAPI PFNGLVERTEXATTRIB4USVPROC glad_glVertexAttrib4usv; -#define glVertexAttrib4usv glad_glVertexAttrib4usv - typedef void(APIENTRYP PFNGLVERTEXATTRIBPOINTERPROC)(GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void *pointer); - GLAPI PFNGLVERTEXATTRIBPOINTERPROC glad_glVertexAttribPointer; -#define glVertexAttribPointer glad_glVertexAttribPointer -#endif -#ifndef GL_VERSION_2_1 -#define GL_VERSION_2_1 1 - GLAPI int GLAD_GL_VERSION_2_1; - typedef void(APIENTRYP PFNGLUNIFORMMATRIX2X3FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX2X3FVPROC glad_glUniformMatrix2x3fv; -#define glUniformMatrix2x3fv glad_glUniformMatrix2x3fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX3X2FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX3X2FVPROC glad_glUniformMatrix3x2fv; -#define glUniformMatrix3x2fv glad_glUniformMatrix3x2fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX2X4FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX2X4FVPROC glad_glUniformMatrix2x4fv; -#define glUniformMatrix2x4fv glad_glUniformMatrix2x4fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX4X2FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX4X2FVPROC glad_glUniformMatrix4x2fv; -#define glUniformMatrix4x2fv glad_glUniformMatrix4x2fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX3X4FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX3X4FVPROC glad_glUniformMatrix3x4fv; -#define glUniformMatrix3x4fv glad_glUniformMatrix3x4fv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX4X3FVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLUNIFORMMATRIX4X3FVPROC glad_glUniformMatrix4x3fv; -#define glUniformMatrix4x3fv glad_glUniformMatrix4x3fv -#endif -#ifndef GL_VERSION_3_0 -#define GL_VERSION_3_0 1 - GLAPI int GLAD_GL_VERSION_3_0; - typedef void(APIENTRYP PFNGLCOLORMASKIPROC)(GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a); - GLAPI PFNGLCOLORMASKIPROC glad_glColorMaski; -#define glColorMaski glad_glColorMaski - typedef void(APIENTRYP PFNGLGETBOOLEANI_VPROC)(GLenum target, GLuint index, GLboolean *data); - GLAPI PFNGLGETBOOLEANI_VPROC glad_glGetBooleani_v; -#define glGetBooleani_v glad_glGetBooleani_v - typedef void(APIENTRYP PFNGLGETINTEGERI_VPROC)(GLenum target, GLuint index, GLint *data); - GLAPI PFNGLGETINTEGERI_VPROC glad_glGetIntegeri_v; -#define glGetIntegeri_v glad_glGetIntegeri_v - typedef void(APIENTRYP PFNGLENABLEIPROC)(GLenum target, GLuint index); - GLAPI PFNGLENABLEIPROC glad_glEnablei; -#define glEnablei glad_glEnablei - typedef void(APIENTRYP PFNGLDISABLEIPROC)(GLenum target, GLuint index); - GLAPI PFNGLDISABLEIPROC glad_glDisablei; -#define glDisablei glad_glDisablei - typedef GLboolean(APIENTRYP PFNGLISENABLEDIPROC)(GLenum target, GLuint index); - GLAPI PFNGLISENABLEDIPROC glad_glIsEnabledi; -#define glIsEnabledi glad_glIsEnabledi - typedef void(APIENTRYP PFNGLBEGINTRANSFORMFEEDBACKPROC)(GLenum primitiveMode); - GLAPI PFNGLBEGINTRANSFORMFEEDBACKPROC glad_glBeginTransformFeedback; -#define glBeginTransformFeedback glad_glBeginTransformFeedback - typedef void(APIENTRYP PFNGLENDTRANSFORMFEEDBACKPROC)(void); - GLAPI PFNGLENDTRANSFORMFEEDBACKPROC glad_glEndTransformFeedback; -#define glEndTransformFeedback glad_glEndTransformFeedback - typedef void(APIENTRYP PFNGLBINDBUFFERRANGEPROC)(GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); - GLAPI PFNGLBINDBUFFERRANGEPROC glad_glBindBufferRange; -#define glBindBufferRange glad_glBindBufferRange - typedef void(APIENTRYP PFNGLBINDBUFFERBASEPROC)(GLenum target, GLuint index, GLuint buffer); - GLAPI PFNGLBINDBUFFERBASEPROC glad_glBindBufferBase; -#define glBindBufferBase glad_glBindBufferBase - typedef void(APIENTRYP PFNGLTRANSFORMFEEDBACKVARYINGSPROC)(GLuint program, GLsizei count, const GLchar *const *varyings, GLenum bufferMode); - GLAPI PFNGLTRANSFORMFEEDBACKVARYINGSPROC glad_glTransformFeedbackVaryings; -#define glTransformFeedbackVaryings glad_glTransformFeedbackVaryings - typedef void(APIENTRYP PFNGLGETTRANSFORMFEEDBACKVARYINGPROC)(GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); - GLAPI PFNGLGETTRANSFORMFEEDBACKVARYINGPROC glad_glGetTransformFeedbackVarying; -#define glGetTransformFeedbackVarying glad_glGetTransformFeedbackVarying - typedef void(APIENTRYP PFNGLCLAMPCOLORPROC)(GLenum target, GLenum clamp); - GLAPI PFNGLCLAMPCOLORPROC glad_glClampColor; -#define glClampColor glad_glClampColor - typedef void(APIENTRYP PFNGLBEGINCONDITIONALRENDERPROC)(GLuint id, GLenum mode); - GLAPI PFNGLBEGINCONDITIONALRENDERPROC glad_glBeginConditionalRender; -#define glBeginConditionalRender glad_glBeginConditionalRender - typedef void(APIENTRYP PFNGLENDCONDITIONALRENDERPROC)(void); - GLAPI PFNGLENDCONDITIONALRENDERPROC glad_glEndConditionalRender; -#define glEndConditionalRender glad_glEndConditionalRender - typedef void(APIENTRYP PFNGLVERTEXATTRIBIPOINTERPROC)(GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); - GLAPI PFNGLVERTEXATTRIBIPOINTERPROC glad_glVertexAttribIPointer; -#define glVertexAttribIPointer glad_glVertexAttribIPointer - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBIIVPROC)(GLuint index, GLenum pname, GLint *params); - GLAPI PFNGLGETVERTEXATTRIBIIVPROC glad_glGetVertexAttribIiv; -#define glGetVertexAttribIiv glad_glGetVertexAttribIiv - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBIUIVPROC)(GLuint index, GLenum pname, GLuint *params); - GLAPI PFNGLGETVERTEXATTRIBIUIVPROC glad_glGetVertexAttribIuiv; -#define glGetVertexAttribIuiv glad_glGetVertexAttribIuiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI1IPROC)(GLuint index, GLint x); - GLAPI PFNGLVERTEXATTRIBI1IPROC glad_glVertexAttribI1i; -#define glVertexAttribI1i glad_glVertexAttribI1i - typedef void(APIENTRYP PFNGLVERTEXATTRIBI2IPROC)(GLuint index, GLint x, GLint y); - GLAPI PFNGLVERTEXATTRIBI2IPROC glad_glVertexAttribI2i; -#define glVertexAttribI2i glad_glVertexAttribI2i - typedef void(APIENTRYP PFNGLVERTEXATTRIBI3IPROC)(GLuint index, GLint x, GLint y, GLint z); - GLAPI PFNGLVERTEXATTRIBI3IPROC glad_glVertexAttribI3i; -#define glVertexAttribI3i glad_glVertexAttribI3i - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4IPROC)(GLuint index, GLint x, GLint y, GLint z, GLint w); - GLAPI PFNGLVERTEXATTRIBI4IPROC glad_glVertexAttribI4i; -#define glVertexAttribI4i glad_glVertexAttribI4i - typedef void(APIENTRYP PFNGLVERTEXATTRIBI1UIPROC)(GLuint index, GLuint x); - GLAPI PFNGLVERTEXATTRIBI1UIPROC glad_glVertexAttribI1ui; -#define glVertexAttribI1ui glad_glVertexAttribI1ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBI2UIPROC)(GLuint index, GLuint x, GLuint y); - GLAPI PFNGLVERTEXATTRIBI2UIPROC glad_glVertexAttribI2ui; -#define glVertexAttribI2ui glad_glVertexAttribI2ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBI3UIPROC)(GLuint index, GLuint x, GLuint y, GLuint z); - GLAPI PFNGLVERTEXATTRIBI3UIPROC glad_glVertexAttribI3ui; -#define glVertexAttribI3ui glad_glVertexAttribI3ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4UIPROC)(GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); - GLAPI PFNGLVERTEXATTRIBI4UIPROC glad_glVertexAttribI4ui; -#define glVertexAttribI4ui glad_glVertexAttribI4ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBI1IVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLVERTEXATTRIBI1IVPROC glad_glVertexAttribI1iv; -#define glVertexAttribI1iv glad_glVertexAttribI1iv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI2IVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLVERTEXATTRIBI2IVPROC glad_glVertexAttribI2iv; -#define glVertexAttribI2iv glad_glVertexAttribI2iv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI3IVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLVERTEXATTRIBI3IVPROC glad_glVertexAttribI3iv; -#define glVertexAttribI3iv glad_glVertexAttribI3iv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4IVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLVERTEXATTRIBI4IVPROC glad_glVertexAttribI4iv; -#define glVertexAttribI4iv glad_glVertexAttribI4iv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI1UIVPROC)(GLuint index, const GLuint *v); - GLAPI PFNGLVERTEXATTRIBI1UIVPROC glad_glVertexAttribI1uiv; -#define glVertexAttribI1uiv glad_glVertexAttribI1uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI2UIVPROC)(GLuint index, const GLuint *v); - GLAPI PFNGLVERTEXATTRIBI2UIVPROC glad_glVertexAttribI2uiv; -#define glVertexAttribI2uiv glad_glVertexAttribI2uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI3UIVPROC)(GLuint index, const GLuint *v); - GLAPI PFNGLVERTEXATTRIBI3UIVPROC glad_glVertexAttribI3uiv; -#define glVertexAttribI3uiv glad_glVertexAttribI3uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4UIVPROC)(GLuint index, const GLuint *v); - GLAPI PFNGLVERTEXATTRIBI4UIVPROC glad_glVertexAttribI4uiv; -#define glVertexAttribI4uiv glad_glVertexAttribI4uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4BVPROC)(GLuint index, const GLbyte *v); - GLAPI PFNGLVERTEXATTRIBI4BVPROC glad_glVertexAttribI4bv; -#define glVertexAttribI4bv glad_glVertexAttribI4bv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4SVPROC)(GLuint index, const GLshort *v); - GLAPI PFNGLVERTEXATTRIBI4SVPROC glad_glVertexAttribI4sv; -#define glVertexAttribI4sv glad_glVertexAttribI4sv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4UBVPROC)(GLuint index, const GLubyte *v); - GLAPI PFNGLVERTEXATTRIBI4UBVPROC glad_glVertexAttribI4ubv; -#define glVertexAttribI4ubv glad_glVertexAttribI4ubv - typedef void(APIENTRYP PFNGLVERTEXATTRIBI4USVPROC)(GLuint index, const GLushort *v); - GLAPI PFNGLVERTEXATTRIBI4USVPROC glad_glVertexAttribI4usv; -#define glVertexAttribI4usv glad_glVertexAttribI4usv - typedef void(APIENTRYP PFNGLGETUNIFORMUIVPROC)(GLuint program, GLint location, GLuint *params); - GLAPI PFNGLGETUNIFORMUIVPROC glad_glGetUniformuiv; -#define glGetUniformuiv glad_glGetUniformuiv - typedef void(APIENTRYP PFNGLBINDFRAGDATALOCATIONPROC)(GLuint program, GLuint color, const GLchar *name); - GLAPI PFNGLBINDFRAGDATALOCATIONPROC glad_glBindFragDataLocation; -#define glBindFragDataLocation glad_glBindFragDataLocation - typedef GLint(APIENTRYP PFNGLGETFRAGDATALOCATIONPROC)(GLuint program, const GLchar *name); - GLAPI PFNGLGETFRAGDATALOCATIONPROC glad_glGetFragDataLocation; -#define glGetFragDataLocation glad_glGetFragDataLocation - typedef void(APIENTRYP PFNGLUNIFORM1UIPROC)(GLint location, GLuint v0); - GLAPI PFNGLUNIFORM1UIPROC glad_glUniform1ui; -#define glUniform1ui glad_glUniform1ui - typedef void(APIENTRYP PFNGLUNIFORM2UIPROC)(GLint location, GLuint v0, GLuint v1); - GLAPI PFNGLUNIFORM2UIPROC glad_glUniform2ui; -#define glUniform2ui glad_glUniform2ui - typedef void(APIENTRYP PFNGLUNIFORM3UIPROC)(GLint location, GLuint v0, GLuint v1, GLuint v2); - GLAPI PFNGLUNIFORM3UIPROC glad_glUniform3ui; -#define glUniform3ui glad_glUniform3ui - typedef void(APIENTRYP PFNGLUNIFORM4UIPROC)(GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); - GLAPI PFNGLUNIFORM4UIPROC glad_glUniform4ui; -#define glUniform4ui glad_glUniform4ui - typedef void(APIENTRYP PFNGLUNIFORM1UIVPROC)(GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLUNIFORM1UIVPROC glad_glUniform1uiv; -#define glUniform1uiv glad_glUniform1uiv - typedef void(APIENTRYP PFNGLUNIFORM2UIVPROC)(GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLUNIFORM2UIVPROC glad_glUniform2uiv; -#define glUniform2uiv glad_glUniform2uiv - typedef void(APIENTRYP PFNGLUNIFORM3UIVPROC)(GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLUNIFORM3UIVPROC glad_glUniform3uiv; -#define glUniform3uiv glad_glUniform3uiv - typedef void(APIENTRYP PFNGLUNIFORM4UIVPROC)(GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLUNIFORM4UIVPROC glad_glUniform4uiv; -#define glUniform4uiv glad_glUniform4uiv - typedef void(APIENTRYP PFNGLTEXPARAMETERIIVPROC)(GLenum target, GLenum pname, const GLint *params); - GLAPI PFNGLTEXPARAMETERIIVPROC glad_glTexParameterIiv; -#define glTexParameterIiv glad_glTexParameterIiv - typedef void(APIENTRYP PFNGLTEXPARAMETERIUIVPROC)(GLenum target, GLenum pname, const GLuint *params); - GLAPI PFNGLTEXPARAMETERIUIVPROC glad_glTexParameterIuiv; -#define glTexParameterIuiv glad_glTexParameterIuiv - typedef void(APIENTRYP PFNGLGETTEXPARAMETERIIVPROC)(GLenum target, GLenum pname, GLint *params); - GLAPI PFNGLGETTEXPARAMETERIIVPROC glad_glGetTexParameterIiv; -#define glGetTexParameterIiv glad_glGetTexParameterIiv - typedef void(APIENTRYP PFNGLGETTEXPARAMETERIUIVPROC)(GLenum target, GLenum pname, GLuint *params); - GLAPI PFNGLGETTEXPARAMETERIUIVPROC glad_glGetTexParameterIuiv; -#define glGetTexParameterIuiv glad_glGetTexParameterIuiv - typedef void(APIENTRYP PFNGLCLEARBUFFERIVPROC)(GLenum buffer, GLint drawbuffer, const GLint *value); - GLAPI PFNGLCLEARBUFFERIVPROC glad_glClearBufferiv; -#define glClearBufferiv glad_glClearBufferiv - typedef void(APIENTRYP PFNGLCLEARBUFFERUIVPROC)(GLenum buffer, GLint drawbuffer, const GLuint *value); - GLAPI PFNGLCLEARBUFFERUIVPROC glad_glClearBufferuiv; -#define glClearBufferuiv glad_glClearBufferuiv - typedef void(APIENTRYP PFNGLCLEARBUFFERFVPROC)(GLenum buffer, GLint drawbuffer, const GLfloat *value); - GLAPI PFNGLCLEARBUFFERFVPROC glad_glClearBufferfv; -#define glClearBufferfv glad_glClearBufferfv - typedef void(APIENTRYP PFNGLCLEARBUFFERFIPROC)(GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); - GLAPI PFNGLCLEARBUFFERFIPROC glad_glClearBufferfi; -#define glClearBufferfi glad_glClearBufferfi - typedef const GLubyte *(APIENTRYP PFNGLGETSTRINGIPROC)(GLenum name, GLuint index); - GLAPI PFNGLGETSTRINGIPROC glad_glGetStringi; -#define glGetStringi glad_glGetStringi - typedef GLboolean(APIENTRYP PFNGLISRENDERBUFFERPROC)(GLuint renderbuffer); - GLAPI PFNGLISRENDERBUFFERPROC glad_glIsRenderbuffer; -#define glIsRenderbuffer glad_glIsRenderbuffer - typedef void(APIENTRYP PFNGLBINDRENDERBUFFERPROC)(GLenum target, GLuint renderbuffer); - GLAPI PFNGLBINDRENDERBUFFERPROC glad_glBindRenderbuffer; -#define glBindRenderbuffer glad_glBindRenderbuffer - typedef void(APIENTRYP PFNGLDELETERENDERBUFFERSPROC)(GLsizei n, const GLuint *renderbuffers); - GLAPI PFNGLDELETERENDERBUFFERSPROC glad_glDeleteRenderbuffers; -#define glDeleteRenderbuffers glad_glDeleteRenderbuffers - typedef void(APIENTRYP PFNGLGENRENDERBUFFERSPROC)(GLsizei n, GLuint *renderbuffers); - GLAPI PFNGLGENRENDERBUFFERSPROC glad_glGenRenderbuffers; -#define glGenRenderbuffers glad_glGenRenderbuffers - typedef void(APIENTRYP PFNGLRENDERBUFFERSTORAGEPROC)(GLenum target, GLenum internalformat, GLsizei width, GLsizei height); - GLAPI PFNGLRENDERBUFFERSTORAGEPROC glad_glRenderbufferStorage; -#define glRenderbufferStorage glad_glRenderbufferStorage - typedef void(APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params); - GLAPI PFNGLGETRENDERBUFFERPARAMETERIVPROC glad_glGetRenderbufferParameteriv; -#define glGetRenderbufferParameteriv glad_glGetRenderbufferParameteriv - typedef GLboolean(APIENTRYP PFNGLISFRAMEBUFFERPROC)(GLuint framebuffer); - GLAPI PFNGLISFRAMEBUFFERPROC glad_glIsFramebuffer; -#define glIsFramebuffer glad_glIsFramebuffer - typedef void(APIENTRYP PFNGLBINDFRAMEBUFFERPROC)(GLenum target, GLuint framebuffer); - GLAPI PFNGLBINDFRAMEBUFFERPROC glad_glBindFramebuffer; -#define glBindFramebuffer glad_glBindFramebuffer - typedef void(APIENTRYP PFNGLDELETEFRAMEBUFFERSPROC)(GLsizei n, const GLuint *framebuffers); - GLAPI PFNGLDELETEFRAMEBUFFERSPROC glad_glDeleteFramebuffers; -#define glDeleteFramebuffers glad_glDeleteFramebuffers - typedef void(APIENTRYP PFNGLGENFRAMEBUFFERSPROC)(GLsizei n, GLuint *framebuffers); - GLAPI PFNGLGENFRAMEBUFFERSPROC glad_glGenFramebuffers; -#define glGenFramebuffers glad_glGenFramebuffers - typedef GLenum(APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSPROC)(GLenum target); - GLAPI PFNGLCHECKFRAMEBUFFERSTATUSPROC glad_glCheckFramebufferStatus; -#define glCheckFramebufferStatus glad_glCheckFramebufferStatus - typedef void(APIENTRYP PFNGLFRAMEBUFFERTEXTURE1DPROC)(GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); - GLAPI PFNGLFRAMEBUFFERTEXTURE1DPROC glad_glFramebufferTexture1D; -#define glFramebufferTexture1D glad_glFramebufferTexture1D - typedef void(APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DPROC)(GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); - GLAPI PFNGLFRAMEBUFFERTEXTURE2DPROC glad_glFramebufferTexture2D; -#define glFramebufferTexture2D glad_glFramebufferTexture2D - typedef void(APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DPROC)(GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); - GLAPI PFNGLFRAMEBUFFERTEXTURE3DPROC glad_glFramebufferTexture3D; -#define glFramebufferTexture3D glad_glFramebufferTexture3D - typedef void(APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFERPROC)(GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); - GLAPI PFNGLFRAMEBUFFERRENDERBUFFERPROC glad_glFramebufferRenderbuffer; -#define glFramebufferRenderbuffer glad_glFramebufferRenderbuffer - typedef void(APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC)(GLenum target, GLenum attachment, GLenum pname, GLint *params); - GLAPI PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC glad_glGetFramebufferAttachmentParameteriv; -#define glGetFramebufferAttachmentParameteriv glad_glGetFramebufferAttachmentParameteriv - typedef void(APIENTRYP PFNGLGENERATEMIPMAPPROC)(GLenum target); - GLAPI PFNGLGENERATEMIPMAPPROC glad_glGenerateMipmap; -#define glGenerateMipmap glad_glGenerateMipmap - typedef void(APIENTRYP PFNGLBLITFRAMEBUFFERPROC)(GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); - GLAPI PFNGLBLITFRAMEBUFFERPROC glad_glBlitFramebuffer; -#define glBlitFramebuffer glad_glBlitFramebuffer - typedef void(APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC)(GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); - GLAPI PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC glad_glRenderbufferStorageMultisample; -#define glRenderbufferStorageMultisample glad_glRenderbufferStorageMultisample - typedef void(APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERPROC)(GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); - GLAPI PFNGLFRAMEBUFFERTEXTURELAYERPROC glad_glFramebufferTextureLayer; -#define glFramebufferTextureLayer glad_glFramebufferTextureLayer - typedef void *(APIENTRYP PFNGLMAPBUFFERRANGEPROC)(GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); - GLAPI PFNGLMAPBUFFERRANGEPROC glad_glMapBufferRange; -#define glMapBufferRange glad_glMapBufferRange - typedef void(APIENTRYP PFNGLFLUSHMAPPEDBUFFERRANGEPROC)(GLenum target, GLintptr offset, GLsizeiptr length); - GLAPI PFNGLFLUSHMAPPEDBUFFERRANGEPROC glad_glFlushMappedBufferRange; -#define glFlushMappedBufferRange glad_glFlushMappedBufferRange - typedef void(APIENTRYP PFNGLBINDVERTEXARRAYPROC)(GLuint array); - GLAPI PFNGLBINDVERTEXARRAYPROC glad_glBindVertexArray; -#define glBindVertexArray glad_glBindVertexArray - typedef void(APIENTRYP PFNGLDELETEVERTEXARRAYSPROC)(GLsizei n, const GLuint *arrays); - GLAPI PFNGLDELETEVERTEXARRAYSPROC glad_glDeleteVertexArrays; -#define glDeleteVertexArrays glad_glDeleteVertexArrays - typedef void(APIENTRYP PFNGLGENVERTEXARRAYSPROC)(GLsizei n, GLuint *arrays); - GLAPI PFNGLGENVERTEXARRAYSPROC glad_glGenVertexArrays; -#define glGenVertexArrays glad_glGenVertexArrays - typedef GLboolean(APIENTRYP PFNGLISVERTEXARRAYPROC)(GLuint array); - GLAPI PFNGLISVERTEXARRAYPROC glad_glIsVertexArray; -#define glIsVertexArray glad_glIsVertexArray -#endif -#ifndef GL_VERSION_3_1 -#define GL_VERSION_3_1 1 - GLAPI int GLAD_GL_VERSION_3_1; - typedef void(APIENTRYP PFNGLDRAWARRAYSINSTANCEDPROC)(GLenum mode, GLint first, GLsizei count, GLsizei instancecount); - GLAPI PFNGLDRAWARRAYSINSTANCEDPROC glad_glDrawArraysInstanced; -#define glDrawArraysInstanced glad_glDrawArraysInstanced - typedef void(APIENTRYP PFNGLDRAWELEMENTSINSTANCEDPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount); - GLAPI PFNGLDRAWELEMENTSINSTANCEDPROC glad_glDrawElementsInstanced; -#define glDrawElementsInstanced glad_glDrawElementsInstanced - typedef void(APIENTRYP PFNGLTEXBUFFERPROC)(GLenum target, GLenum internalformat, GLuint buffer); - GLAPI PFNGLTEXBUFFERPROC glad_glTexBuffer; -#define glTexBuffer glad_glTexBuffer - typedef void(APIENTRYP PFNGLPRIMITIVERESTARTINDEXPROC)(GLuint index); - GLAPI PFNGLPRIMITIVERESTARTINDEXPROC glad_glPrimitiveRestartIndex; -#define glPrimitiveRestartIndex glad_glPrimitiveRestartIndex - typedef void(APIENTRYP PFNGLCOPYBUFFERSUBDATAPROC)(GLenum readTarget, GLenum writeTarget, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); - GLAPI PFNGLCOPYBUFFERSUBDATAPROC glad_glCopyBufferSubData; -#define glCopyBufferSubData glad_glCopyBufferSubData - typedef void(APIENTRYP PFNGLGETUNIFORMINDICESPROC)(GLuint program, GLsizei uniformCount, const GLchar *const *uniformNames, GLuint *uniformIndices); - GLAPI PFNGLGETUNIFORMINDICESPROC glad_glGetUniformIndices; -#define glGetUniformIndices glad_glGetUniformIndices - typedef void(APIENTRYP PFNGLGETACTIVEUNIFORMSIVPROC)(GLuint program, GLsizei uniformCount, const GLuint *uniformIndices, GLenum pname, GLint *params); - GLAPI PFNGLGETACTIVEUNIFORMSIVPROC glad_glGetActiveUniformsiv; -#define glGetActiveUniformsiv glad_glGetActiveUniformsiv - typedef void(APIENTRYP PFNGLGETACTIVEUNIFORMNAMEPROC)(GLuint program, GLuint uniformIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformName); - GLAPI PFNGLGETACTIVEUNIFORMNAMEPROC glad_glGetActiveUniformName; -#define glGetActiveUniformName glad_glGetActiveUniformName - typedef GLuint(APIENTRYP PFNGLGETUNIFORMBLOCKINDEXPROC)(GLuint program, const GLchar *uniformBlockName); - GLAPI PFNGLGETUNIFORMBLOCKINDEXPROC glad_glGetUniformBlockIndex; -#define glGetUniformBlockIndex glad_glGetUniformBlockIndex - typedef void(APIENTRYP PFNGLGETACTIVEUNIFORMBLOCKIVPROC)(GLuint program, GLuint uniformBlockIndex, GLenum pname, GLint *params); - GLAPI PFNGLGETACTIVEUNIFORMBLOCKIVPROC glad_glGetActiveUniformBlockiv; -#define glGetActiveUniformBlockiv glad_glGetActiveUniformBlockiv - typedef void(APIENTRYP PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC)(GLuint program, GLuint uniformBlockIndex, GLsizei bufSize, GLsizei *length, GLchar *uniformBlockName); - GLAPI PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC glad_glGetActiveUniformBlockName; -#define glGetActiveUniformBlockName glad_glGetActiveUniformBlockName - typedef void(APIENTRYP PFNGLUNIFORMBLOCKBINDINGPROC)(GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding); - GLAPI PFNGLUNIFORMBLOCKBINDINGPROC glad_glUniformBlockBinding; -#define glUniformBlockBinding glad_glUniformBlockBinding -#endif -#ifndef GL_VERSION_3_2 -#define GL_VERSION_3_2 1 - GLAPI int GLAD_GL_VERSION_3_2; - typedef void(APIENTRYP PFNGLDRAWELEMENTSBASEVERTEXPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices, GLint basevertex); - GLAPI PFNGLDRAWELEMENTSBASEVERTEXPROC glad_glDrawElementsBaseVertex; -#define glDrawElementsBaseVertex glad_glDrawElementsBaseVertex - typedef void(APIENTRYP PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC)(GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices, GLint basevertex); - GLAPI PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC glad_glDrawRangeElementsBaseVertex; -#define glDrawRangeElementsBaseVertex glad_glDrawRangeElementsBaseVertex - typedef void(APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex); - GLAPI PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC glad_glDrawElementsInstancedBaseVertex; -#define glDrawElementsInstancedBaseVertex glad_glDrawElementsInstancedBaseVertex - typedef void(APIENTRYP PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC)(GLenum mode, const GLsizei *count, GLenum type, const void *const *indices, GLsizei drawcount, const GLint *basevertex); - GLAPI PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC glad_glMultiDrawElementsBaseVertex; -#define glMultiDrawElementsBaseVertex glad_glMultiDrawElementsBaseVertex - typedef void(APIENTRYP PFNGLPROVOKINGVERTEXPROC)(GLenum mode); - GLAPI PFNGLPROVOKINGVERTEXPROC glad_glProvokingVertex; -#define glProvokingVertex glad_glProvokingVertex - typedef GLsync(APIENTRYP PFNGLFENCESYNCPROC)(GLenum condition, GLbitfield flags); - GLAPI PFNGLFENCESYNCPROC glad_glFenceSync; -#define glFenceSync glad_glFenceSync - typedef GLboolean(APIENTRYP PFNGLISSYNCPROC)(GLsync sync); - GLAPI PFNGLISSYNCPROC glad_glIsSync; -#define glIsSync glad_glIsSync - typedef void(APIENTRYP PFNGLDELETESYNCPROC)(GLsync sync); - GLAPI PFNGLDELETESYNCPROC glad_glDeleteSync; -#define glDeleteSync glad_glDeleteSync - typedef GLenum(APIENTRYP PFNGLCLIENTWAITSYNCPROC)(GLsync sync, GLbitfield flags, GLuint64 timeout); - GLAPI PFNGLCLIENTWAITSYNCPROC glad_glClientWaitSync; -#define glClientWaitSync glad_glClientWaitSync - typedef void(APIENTRYP PFNGLWAITSYNCPROC)(GLsync sync, GLbitfield flags, GLuint64 timeout); - GLAPI PFNGLWAITSYNCPROC glad_glWaitSync; -#define glWaitSync glad_glWaitSync - typedef void(APIENTRYP PFNGLGETINTEGER64VPROC)(GLenum pname, GLint64 *data); - GLAPI PFNGLGETINTEGER64VPROC glad_glGetInteger64v; -#define glGetInteger64v glad_glGetInteger64v - typedef void(APIENTRYP PFNGLGETSYNCIVPROC)(GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); - GLAPI PFNGLGETSYNCIVPROC glad_glGetSynciv; -#define glGetSynciv glad_glGetSynciv - typedef void(APIENTRYP PFNGLGETINTEGER64I_VPROC)(GLenum target, GLuint index, GLint64 *data); - GLAPI PFNGLGETINTEGER64I_VPROC glad_glGetInteger64i_v; -#define glGetInteger64i_v glad_glGetInteger64i_v - typedef void(APIENTRYP PFNGLGETBUFFERPARAMETERI64VPROC)(GLenum target, GLenum pname, GLint64 *params); - GLAPI PFNGLGETBUFFERPARAMETERI64VPROC glad_glGetBufferParameteri64v; -#define glGetBufferParameteri64v glad_glGetBufferParameteri64v - typedef void(APIENTRYP PFNGLFRAMEBUFFERTEXTUREPROC)(GLenum target, GLenum attachment, GLuint texture, GLint level); - GLAPI PFNGLFRAMEBUFFERTEXTUREPROC glad_glFramebufferTexture; -#define glFramebufferTexture glad_glFramebufferTexture - typedef void(APIENTRYP PFNGLTEXIMAGE2DMULTISAMPLEPROC)(GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); - GLAPI PFNGLTEXIMAGE2DMULTISAMPLEPROC glad_glTexImage2DMultisample; -#define glTexImage2DMultisample glad_glTexImage2DMultisample - typedef void(APIENTRYP PFNGLTEXIMAGE3DMULTISAMPLEPROC)(GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); - GLAPI PFNGLTEXIMAGE3DMULTISAMPLEPROC glad_glTexImage3DMultisample; -#define glTexImage3DMultisample glad_glTexImage3DMultisample - typedef void(APIENTRYP PFNGLGETMULTISAMPLEFVPROC)(GLenum pname, GLuint index, GLfloat *val); - GLAPI PFNGLGETMULTISAMPLEFVPROC glad_glGetMultisamplefv; -#define glGetMultisamplefv glad_glGetMultisamplefv - typedef void(APIENTRYP PFNGLSAMPLEMASKIPROC)(GLuint maskNumber, GLbitfield mask); - GLAPI PFNGLSAMPLEMASKIPROC glad_glSampleMaski; -#define glSampleMaski glad_glSampleMaski -#endif -#ifndef GL_VERSION_3_3 -#define GL_VERSION_3_3 1 - GLAPI int GLAD_GL_VERSION_3_3; - typedef void(APIENTRYP PFNGLBINDFRAGDATALOCATIONINDEXEDPROC)(GLuint program, GLuint colorNumber, GLuint index, const GLchar *name); - GLAPI PFNGLBINDFRAGDATALOCATIONINDEXEDPROC glad_glBindFragDataLocationIndexed; -#define glBindFragDataLocationIndexed glad_glBindFragDataLocationIndexed - typedef GLint(APIENTRYP PFNGLGETFRAGDATAINDEXPROC)(GLuint program, const GLchar *name); - GLAPI PFNGLGETFRAGDATAINDEXPROC glad_glGetFragDataIndex; -#define glGetFragDataIndex glad_glGetFragDataIndex - typedef void(APIENTRYP PFNGLGENSAMPLERSPROC)(GLsizei count, GLuint *samplers); - GLAPI PFNGLGENSAMPLERSPROC glad_glGenSamplers; -#define glGenSamplers glad_glGenSamplers - typedef void(APIENTRYP PFNGLDELETESAMPLERSPROC)(GLsizei count, const GLuint *samplers); - GLAPI PFNGLDELETESAMPLERSPROC glad_glDeleteSamplers; -#define glDeleteSamplers glad_glDeleteSamplers - typedef GLboolean(APIENTRYP PFNGLISSAMPLERPROC)(GLuint sampler); - GLAPI PFNGLISSAMPLERPROC glad_glIsSampler; -#define glIsSampler glad_glIsSampler - typedef void(APIENTRYP PFNGLBINDSAMPLERPROC)(GLuint unit, GLuint sampler); - GLAPI PFNGLBINDSAMPLERPROC glad_glBindSampler; -#define glBindSampler glad_glBindSampler - typedef void(APIENTRYP PFNGLSAMPLERPARAMETERIPROC)(GLuint sampler, GLenum pname, GLint param); - GLAPI PFNGLSAMPLERPARAMETERIPROC glad_glSamplerParameteri; -#define glSamplerParameteri glad_glSamplerParameteri - typedef void(APIENTRYP PFNGLSAMPLERPARAMETERIVPROC)(GLuint sampler, GLenum pname, const GLint *param); - GLAPI PFNGLSAMPLERPARAMETERIVPROC glad_glSamplerParameteriv; -#define glSamplerParameteriv glad_glSamplerParameteriv - typedef void(APIENTRYP PFNGLSAMPLERPARAMETERFPROC)(GLuint sampler, GLenum pname, GLfloat param); - GLAPI PFNGLSAMPLERPARAMETERFPROC glad_glSamplerParameterf; -#define glSamplerParameterf glad_glSamplerParameterf - typedef void(APIENTRYP PFNGLSAMPLERPARAMETERFVPROC)(GLuint sampler, GLenum pname, const GLfloat *param); - GLAPI PFNGLSAMPLERPARAMETERFVPROC glad_glSamplerParameterfv; -#define glSamplerParameterfv glad_glSamplerParameterfv - typedef void(APIENTRYP PFNGLSAMPLERPARAMETERIIVPROC)(GLuint sampler, GLenum pname, const GLint *param); - GLAPI PFNGLSAMPLERPARAMETERIIVPROC glad_glSamplerParameterIiv; -#define glSamplerParameterIiv glad_glSamplerParameterIiv - typedef void(APIENTRYP PFNGLSAMPLERPARAMETERIUIVPROC)(GLuint sampler, GLenum pname, const GLuint *param); - GLAPI PFNGLSAMPLERPARAMETERIUIVPROC glad_glSamplerParameterIuiv; -#define glSamplerParameterIuiv glad_glSamplerParameterIuiv - typedef void(APIENTRYP PFNGLGETSAMPLERPARAMETERIVPROC)(GLuint sampler, GLenum pname, GLint *params); - GLAPI PFNGLGETSAMPLERPARAMETERIVPROC glad_glGetSamplerParameteriv; -#define glGetSamplerParameteriv glad_glGetSamplerParameteriv - typedef void(APIENTRYP PFNGLGETSAMPLERPARAMETERIIVPROC)(GLuint sampler, GLenum pname, GLint *params); - GLAPI PFNGLGETSAMPLERPARAMETERIIVPROC glad_glGetSamplerParameterIiv; -#define glGetSamplerParameterIiv glad_glGetSamplerParameterIiv - typedef void(APIENTRYP PFNGLGETSAMPLERPARAMETERFVPROC)(GLuint sampler, GLenum pname, GLfloat *params); - GLAPI PFNGLGETSAMPLERPARAMETERFVPROC glad_glGetSamplerParameterfv; -#define glGetSamplerParameterfv glad_glGetSamplerParameterfv - typedef void(APIENTRYP PFNGLGETSAMPLERPARAMETERIUIVPROC)(GLuint sampler, GLenum pname, GLuint *params); - GLAPI PFNGLGETSAMPLERPARAMETERIUIVPROC glad_glGetSamplerParameterIuiv; -#define glGetSamplerParameterIuiv glad_glGetSamplerParameterIuiv - typedef void(APIENTRYP PFNGLQUERYCOUNTERPROC)(GLuint id, GLenum target); - GLAPI PFNGLQUERYCOUNTERPROC glad_glQueryCounter; -#define glQueryCounter glad_glQueryCounter - typedef void(APIENTRYP PFNGLGETQUERYOBJECTI64VPROC)(GLuint id, GLenum pname, GLint64 *params); - GLAPI PFNGLGETQUERYOBJECTI64VPROC glad_glGetQueryObjecti64v; -#define glGetQueryObjecti64v glad_glGetQueryObjecti64v - typedef void(APIENTRYP PFNGLGETQUERYOBJECTUI64VPROC)(GLuint id, GLenum pname, GLuint64 *params); - GLAPI PFNGLGETQUERYOBJECTUI64VPROC glad_glGetQueryObjectui64v; -#define glGetQueryObjectui64v glad_glGetQueryObjectui64v - typedef void(APIENTRYP PFNGLVERTEXATTRIBDIVISORPROC)(GLuint index, GLuint divisor); - GLAPI PFNGLVERTEXATTRIBDIVISORPROC glad_glVertexAttribDivisor; -#define glVertexAttribDivisor glad_glVertexAttribDivisor - typedef void(APIENTRYP PFNGLVERTEXATTRIBP1UIPROC)(GLuint index, GLenum type, GLboolean normalized, GLuint value); - GLAPI PFNGLVERTEXATTRIBP1UIPROC glad_glVertexAttribP1ui; -#define glVertexAttribP1ui glad_glVertexAttribP1ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBP1UIVPROC)(GLuint index, GLenum type, GLboolean normalized, const GLuint *value); - GLAPI PFNGLVERTEXATTRIBP1UIVPROC glad_glVertexAttribP1uiv; -#define glVertexAttribP1uiv glad_glVertexAttribP1uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBP2UIPROC)(GLuint index, GLenum type, GLboolean normalized, GLuint value); - GLAPI PFNGLVERTEXATTRIBP2UIPROC glad_glVertexAttribP2ui; -#define glVertexAttribP2ui glad_glVertexAttribP2ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBP2UIVPROC)(GLuint index, GLenum type, GLboolean normalized, const GLuint *value); - GLAPI PFNGLVERTEXATTRIBP2UIVPROC glad_glVertexAttribP2uiv; -#define glVertexAttribP2uiv glad_glVertexAttribP2uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBP3UIPROC)(GLuint index, GLenum type, GLboolean normalized, GLuint value); - GLAPI PFNGLVERTEXATTRIBP3UIPROC glad_glVertexAttribP3ui; -#define glVertexAttribP3ui glad_glVertexAttribP3ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBP3UIVPROC)(GLuint index, GLenum type, GLboolean normalized, const GLuint *value); - GLAPI PFNGLVERTEXATTRIBP3UIVPROC glad_glVertexAttribP3uiv; -#define glVertexAttribP3uiv glad_glVertexAttribP3uiv - typedef void(APIENTRYP PFNGLVERTEXATTRIBP4UIPROC)(GLuint index, GLenum type, GLboolean normalized, GLuint value); - GLAPI PFNGLVERTEXATTRIBP4UIPROC glad_glVertexAttribP4ui; -#define glVertexAttribP4ui glad_glVertexAttribP4ui - typedef void(APIENTRYP PFNGLVERTEXATTRIBP4UIVPROC)(GLuint index, GLenum type, GLboolean normalized, const GLuint *value); - GLAPI PFNGLVERTEXATTRIBP4UIVPROC glad_glVertexAttribP4uiv; -#define glVertexAttribP4uiv glad_glVertexAttribP4uiv - typedef void(APIENTRYP PFNGLVERTEXP2UIPROC)(GLenum type, GLuint value); - GLAPI PFNGLVERTEXP2UIPROC glad_glVertexP2ui; -#define glVertexP2ui glad_glVertexP2ui - typedef void(APIENTRYP PFNGLVERTEXP2UIVPROC)(GLenum type, const GLuint *value); - GLAPI PFNGLVERTEXP2UIVPROC glad_glVertexP2uiv; -#define glVertexP2uiv glad_glVertexP2uiv - typedef void(APIENTRYP PFNGLVERTEXP3UIPROC)(GLenum type, GLuint value); - GLAPI PFNGLVERTEXP3UIPROC glad_glVertexP3ui; -#define glVertexP3ui glad_glVertexP3ui - typedef void(APIENTRYP 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glad_glTexCoordP2ui - typedef void(APIENTRYP PFNGLTEXCOORDP2UIVPROC)(GLenum type, const GLuint *coords); - GLAPI PFNGLTEXCOORDP2UIVPROC glad_glTexCoordP2uiv; -#define glTexCoordP2uiv glad_glTexCoordP2uiv - typedef void(APIENTRYP PFNGLTEXCOORDP3UIPROC)(GLenum type, GLuint coords); - GLAPI PFNGLTEXCOORDP3UIPROC glad_glTexCoordP3ui; -#define glTexCoordP3ui glad_glTexCoordP3ui - typedef void(APIENTRYP PFNGLTEXCOORDP3UIVPROC)(GLenum type, const GLuint *coords); - GLAPI PFNGLTEXCOORDP3UIVPROC glad_glTexCoordP3uiv; -#define glTexCoordP3uiv glad_glTexCoordP3uiv - typedef void(APIENTRYP PFNGLTEXCOORDP4UIPROC)(GLenum type, GLuint coords); - GLAPI PFNGLTEXCOORDP4UIPROC glad_glTexCoordP4ui; -#define glTexCoordP4ui glad_glTexCoordP4ui - typedef void(APIENTRYP PFNGLTEXCOORDP4UIVPROC)(GLenum type, const GLuint *coords); - GLAPI PFNGLTEXCOORDP4UIVPROC glad_glTexCoordP4uiv; -#define glTexCoordP4uiv glad_glTexCoordP4uiv - typedef void(APIENTRYP PFNGLMULTITEXCOORDP1UIPROC)(GLenum texture, GLenum type, GLuint coords); - GLAPI PFNGLMULTITEXCOORDP1UIPROC glad_glMultiTexCoordP1ui; -#define glMultiTexCoordP1ui glad_glMultiTexCoordP1ui - typedef void(APIENTRYP PFNGLMULTITEXCOORDP1UIVPROC)(GLenum texture, GLenum type, const GLuint *coords); - GLAPI PFNGLMULTITEXCOORDP1UIVPROC glad_glMultiTexCoordP1uiv; -#define glMultiTexCoordP1uiv glad_glMultiTexCoordP1uiv - typedef void(APIENTRYP PFNGLMULTITEXCOORDP2UIPROC)(GLenum texture, GLenum type, GLuint coords); - GLAPI PFNGLMULTITEXCOORDP2UIPROC glad_glMultiTexCoordP2ui; -#define glMultiTexCoordP2ui glad_glMultiTexCoordP2ui - typedef void(APIENTRYP PFNGLMULTITEXCOORDP2UIVPROC)(GLenum texture, GLenum type, const GLuint *coords); - GLAPI PFNGLMULTITEXCOORDP2UIVPROC glad_glMultiTexCoordP2uiv; -#define glMultiTexCoordP2uiv glad_glMultiTexCoordP2uiv - typedef void(APIENTRYP PFNGLMULTITEXCOORDP3UIPROC)(GLenum texture, GLenum type, GLuint coords); - GLAPI PFNGLMULTITEXCOORDP3UIPROC glad_glMultiTexCoordP3ui; -#define glMultiTexCoordP3ui glad_glMultiTexCoordP3ui - typedef void(APIENTRYP PFNGLMULTITEXCOORDP3UIVPROC)(GLenum texture, GLenum type, const GLuint *coords); - GLAPI PFNGLMULTITEXCOORDP3UIVPROC glad_glMultiTexCoordP3uiv; -#define glMultiTexCoordP3uiv glad_glMultiTexCoordP3uiv - typedef void(APIENTRYP PFNGLMULTITEXCOORDP4UIPROC)(GLenum texture, GLenum type, GLuint coords); - GLAPI PFNGLMULTITEXCOORDP4UIPROC glad_glMultiTexCoordP4ui; -#define glMultiTexCoordP4ui glad_glMultiTexCoordP4ui - typedef void(APIENTRYP PFNGLMULTITEXCOORDP4UIVPROC)(GLenum texture, GLenum type, const GLuint *coords); - GLAPI PFNGLMULTITEXCOORDP4UIVPROC glad_glMultiTexCoordP4uiv; -#define glMultiTexCoordP4uiv glad_glMultiTexCoordP4uiv - typedef void(APIENTRYP PFNGLNORMALP3UIPROC)(GLenum type, GLuint coords); - GLAPI PFNGLNORMALP3UIPROC glad_glNormalP3ui; -#define glNormalP3ui glad_glNormalP3ui - typedef void(APIENTRYP PFNGLNORMALP3UIVPROC)(GLenum type, const GLuint *coords); - GLAPI PFNGLNORMALP3UIVPROC glad_glNormalP3uiv; -#define glNormalP3uiv glad_glNormalP3uiv - typedef void(APIENTRYP PFNGLCOLORP3UIPROC)(GLenum type, GLuint color); - GLAPI PFNGLCOLORP3UIPROC glad_glColorP3ui; -#define glColorP3ui glad_glColorP3ui - typedef void(APIENTRYP PFNGLCOLORP3UIVPROC)(GLenum type, const GLuint *color); - GLAPI PFNGLCOLORP3UIVPROC glad_glColorP3uiv; -#define glColorP3uiv glad_glColorP3uiv - typedef void(APIENTRYP PFNGLCOLORP4UIPROC)(GLenum type, GLuint color); - GLAPI PFNGLCOLORP4UIPROC glad_glColorP4ui; -#define glColorP4ui glad_glColorP4ui - typedef void(APIENTRYP PFNGLCOLORP4UIVPROC)(GLenum type, const GLuint *color); - GLAPI PFNGLCOLORP4UIVPROC glad_glColorP4uiv; -#define glColorP4uiv glad_glColorP4uiv - typedef void(APIENTRYP PFNGLSECONDARYCOLORP3UIPROC)(GLenum type, GLuint color); - GLAPI PFNGLSECONDARYCOLORP3UIPROC glad_glSecondaryColorP3ui; -#define glSecondaryColorP3ui glad_glSecondaryColorP3ui - typedef void(APIENTRYP PFNGLSECONDARYCOLORP3UIVPROC)(GLenum type, const GLuint *color); - GLAPI PFNGLSECONDARYCOLORP3UIVPROC glad_glSecondaryColorP3uiv; -#define glSecondaryColorP3uiv glad_glSecondaryColorP3uiv -#endif -#ifndef GL_VERSION_4_0 -#define GL_VERSION_4_0 1 - GLAPI int GLAD_GL_VERSION_4_0; - typedef void(APIENTRYP PFNGLMINSAMPLESHADINGPROC)(GLfloat value); - GLAPI PFNGLMINSAMPLESHADINGPROC glad_glMinSampleShading; -#define glMinSampleShading glad_glMinSampleShading - typedef void(APIENTRYP PFNGLBLENDEQUATIONIPROC)(GLuint buf, GLenum mode); - GLAPI PFNGLBLENDEQUATIONIPROC glad_glBlendEquationi; -#define glBlendEquationi glad_glBlendEquationi - typedef void(APIENTRYP PFNGLBLENDEQUATIONSEPARATEIPROC)(GLuint buf, GLenum modeRGB, GLenum modeAlpha); - GLAPI PFNGLBLENDEQUATIONSEPARATEIPROC glad_glBlendEquationSeparatei; -#define glBlendEquationSeparatei glad_glBlendEquationSeparatei - typedef void(APIENTRYP PFNGLBLENDFUNCIPROC)(GLuint buf, GLenum src, GLenum dst); - GLAPI PFNGLBLENDFUNCIPROC glad_glBlendFunci; -#define glBlendFunci glad_glBlendFunci - typedef void(APIENTRYP 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typedef void(APIENTRYP PFNGLUNIFORM3DPROC)(GLint location, GLdouble x, GLdouble y, GLdouble z); - GLAPI PFNGLUNIFORM3DPROC glad_glUniform3d; -#define glUniform3d glad_glUniform3d - typedef void(APIENTRYP PFNGLUNIFORM4DPROC)(GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); - GLAPI PFNGLUNIFORM4DPROC glad_glUniform4d; -#define glUniform4d glad_glUniform4d - typedef void(APIENTRYP PFNGLUNIFORM1DVPROC)(GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLUNIFORM1DVPROC glad_glUniform1dv; -#define glUniform1dv glad_glUniform1dv - typedef void(APIENTRYP PFNGLUNIFORM2DVPROC)(GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLUNIFORM2DVPROC glad_glUniform2dv; -#define glUniform2dv glad_glUniform2dv - typedef void(APIENTRYP PFNGLUNIFORM3DVPROC)(GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLUNIFORM3DVPROC glad_glUniform3dv; -#define glUniform3dv glad_glUniform3dv - typedef void(APIENTRYP PFNGLUNIFORM4DVPROC)(GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLUNIFORM4DVPROC glad_glUniform4dv; -#define glUniform4dv glad_glUniform4dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX2DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX2DVPROC glad_glUniformMatrix2dv; -#define glUniformMatrix2dv glad_glUniformMatrix2dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX3DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX3DVPROC glad_glUniformMatrix3dv; -#define glUniformMatrix3dv glad_glUniformMatrix3dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX4DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX4DVPROC glad_glUniformMatrix4dv; -#define glUniformMatrix4dv glad_glUniformMatrix4dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX2X3DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX2X3DVPROC glad_glUniformMatrix2x3dv; -#define glUniformMatrix2x3dv glad_glUniformMatrix2x3dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX2X4DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX2X4DVPROC glad_glUniformMatrix2x4dv; -#define glUniformMatrix2x4dv glad_glUniformMatrix2x4dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX3X2DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX3X2DVPROC glad_glUniformMatrix3x2dv; -#define glUniformMatrix3x2dv glad_glUniformMatrix3x2dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX3X4DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX3X4DVPROC glad_glUniformMatrix3x4dv; -#define glUniformMatrix3x4dv glad_glUniformMatrix3x4dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX4X2DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX4X2DVPROC glad_glUniformMatrix4x2dv; -#define glUniformMatrix4x2dv glad_glUniformMatrix4x2dv - typedef void(APIENTRYP PFNGLUNIFORMMATRIX4X3DVPROC)(GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLUNIFORMMATRIX4X3DVPROC glad_glUniformMatrix4x3dv; -#define glUniformMatrix4x3dv glad_glUniformMatrix4x3dv - typedef void(APIENTRYP PFNGLGETUNIFORMDVPROC)(GLuint program, GLint location, GLdouble *params); - GLAPI PFNGLGETUNIFORMDVPROC glad_glGetUniformdv; -#define glGetUniformdv glad_glGetUniformdv - typedef GLint(APIENTRYP PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC)(GLuint program, GLenum shadertype, const GLchar *name); - GLAPI PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC glad_glGetSubroutineUniformLocation; -#define glGetSubroutineUniformLocation glad_glGetSubroutineUniformLocation - typedef GLuint(APIENTRYP PFNGLGETSUBROUTINEINDEXPROC)(GLuint program, GLenum shadertype, const GLchar *name); - GLAPI PFNGLGETSUBROUTINEINDEXPROC glad_glGetSubroutineIndex; -#define glGetSubroutineIndex glad_glGetSubroutineIndex - typedef void(APIENTRYP PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC)(GLuint program, GLenum shadertype, GLuint index, GLenum pname, GLint *values); - GLAPI PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC glad_glGetActiveSubroutineUniformiv; -#define glGetActiveSubroutineUniformiv glad_glGetActiveSubroutineUniformiv - typedef void(APIENTRYP PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC)(GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); - GLAPI PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC glad_glGetActiveSubroutineUniformName; -#define glGetActiveSubroutineUniformName glad_glGetActiveSubroutineUniformName - typedef void(APIENTRYP PFNGLGETACTIVESUBROUTINENAMEPROC)(GLuint program, GLenum shadertype, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); - GLAPI PFNGLGETACTIVESUBROUTINENAMEPROC glad_glGetActiveSubroutineName; -#define glGetActiveSubroutineName glad_glGetActiveSubroutineName - typedef void(APIENTRYP PFNGLUNIFORMSUBROUTINESUIVPROC)(GLenum shadertype, GLsizei count, const GLuint *indices); - GLAPI PFNGLUNIFORMSUBROUTINESUIVPROC glad_glUniformSubroutinesuiv; -#define glUniformSubroutinesuiv glad_glUniformSubroutinesuiv - typedef void(APIENTRYP PFNGLGETUNIFORMSUBROUTINEUIVPROC)(GLenum shadertype, GLint location, GLuint *params); - GLAPI PFNGLGETUNIFORMSUBROUTINEUIVPROC glad_glGetUniformSubroutineuiv; -#define glGetUniformSubroutineuiv glad_glGetUniformSubroutineuiv - typedef void(APIENTRYP PFNGLGETPROGRAMSTAGEIVPROC)(GLuint program, GLenum shadertype, GLenum pname, GLint *values); - GLAPI PFNGLGETPROGRAMSTAGEIVPROC glad_glGetProgramStageiv; -#define glGetProgramStageiv glad_glGetProgramStageiv - typedef void(APIENTRYP PFNGLPATCHPARAMETERIPROC)(GLenum pname, GLint value); - GLAPI PFNGLPATCHPARAMETERIPROC glad_glPatchParameteri; -#define glPatchParameteri glad_glPatchParameteri - typedef void(APIENTRYP PFNGLPATCHPARAMETERFVPROC)(GLenum pname, const GLfloat *values); - GLAPI PFNGLPATCHPARAMETERFVPROC glad_glPatchParameterfv; -#define glPatchParameterfv glad_glPatchParameterfv - typedef void(APIENTRYP PFNGLBINDTRANSFORMFEEDBACKPROC)(GLenum target, GLuint id); - GLAPI PFNGLBINDTRANSFORMFEEDBACKPROC glad_glBindTransformFeedback; -#define glBindTransformFeedback glad_glBindTransformFeedback - typedef void(APIENTRYP PFNGLDELETETRANSFORMFEEDBACKSPROC)(GLsizei n, const GLuint *ids); - GLAPI PFNGLDELETETRANSFORMFEEDBACKSPROC glad_glDeleteTransformFeedbacks; -#define glDeleteTransformFeedbacks glad_glDeleteTransformFeedbacks - typedef void(APIENTRYP PFNGLGENTRANSFORMFEEDBACKSPROC)(GLsizei n, GLuint *ids); - GLAPI PFNGLGENTRANSFORMFEEDBACKSPROC glad_glGenTransformFeedbacks; -#define glGenTransformFeedbacks glad_glGenTransformFeedbacks - typedef GLboolean(APIENTRYP PFNGLISTRANSFORMFEEDBACKPROC)(GLuint id); - GLAPI PFNGLISTRANSFORMFEEDBACKPROC glad_glIsTransformFeedback; -#define glIsTransformFeedback glad_glIsTransformFeedback - typedef void(APIENTRYP PFNGLPAUSETRANSFORMFEEDBACKPROC)(void); - GLAPI PFNGLPAUSETRANSFORMFEEDBACKPROC glad_glPauseTransformFeedback; -#define glPauseTransformFeedback glad_glPauseTransformFeedback - typedef void(APIENTRYP PFNGLRESUMETRANSFORMFEEDBACKPROC)(void); - GLAPI PFNGLRESUMETRANSFORMFEEDBACKPROC glad_glResumeTransformFeedback; -#define glResumeTransformFeedback glad_glResumeTransformFeedback - typedef void(APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKPROC)(GLenum mode, GLuint id); - GLAPI PFNGLDRAWTRANSFORMFEEDBACKPROC glad_glDrawTransformFeedback; -#define glDrawTransformFeedback glad_glDrawTransformFeedback - typedef void(APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC)(GLenum mode, GLuint id, GLuint stream); - GLAPI PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC glad_glDrawTransformFeedbackStream; -#define glDrawTransformFeedbackStream glad_glDrawTransformFeedbackStream - typedef void(APIENTRYP PFNGLBEGINQUERYINDEXEDPROC)(GLenum target, GLuint index, GLuint id); - GLAPI PFNGLBEGINQUERYINDEXEDPROC glad_glBeginQueryIndexed; -#define glBeginQueryIndexed glad_glBeginQueryIndexed - typedef void(APIENTRYP PFNGLENDQUERYINDEXEDPROC)(GLenum target, GLuint index); - GLAPI PFNGLENDQUERYINDEXEDPROC glad_glEndQueryIndexed; -#define glEndQueryIndexed glad_glEndQueryIndexed - typedef void(APIENTRYP PFNGLGETQUERYINDEXEDIVPROC)(GLenum target, GLuint index, GLenum pname, GLint *params); - GLAPI PFNGLGETQUERYINDEXEDIVPROC glad_glGetQueryIndexediv; -#define glGetQueryIndexediv glad_glGetQueryIndexediv -#endif -#ifndef GL_VERSION_4_1 -#define GL_VERSION_4_1 1 - GLAPI int GLAD_GL_VERSION_4_1; - typedef void(APIENTRYP PFNGLRELEASESHADERCOMPILERPROC)(void); - GLAPI PFNGLRELEASESHADERCOMPILERPROC glad_glReleaseShaderCompiler; -#define glReleaseShaderCompiler glad_glReleaseShaderCompiler - typedef void(APIENTRYP PFNGLSHADERBINARYPROC)(GLsizei count, const GLuint *shaders, GLenum binaryFormat, const void *binary, GLsizei length); - GLAPI PFNGLSHADERBINARYPROC glad_glShaderBinary; -#define glShaderBinary glad_glShaderBinary - typedef void(APIENTRYP PFNGLGETSHADERPRECISIONFORMATPROC)(GLenum shadertype, GLenum precisiontype, GLint *range, GLint *precision); - GLAPI PFNGLGETSHADERPRECISIONFORMATPROC glad_glGetShaderPrecisionFormat; -#define glGetShaderPrecisionFormat glad_glGetShaderPrecisionFormat - typedef void(APIENTRYP PFNGLDEPTHRANGEFPROC)(GLfloat n, GLfloat f); - GLAPI PFNGLDEPTHRANGEFPROC glad_glDepthRangef; -#define glDepthRangef glad_glDepthRangef - typedef void(APIENTRYP PFNGLCLEARDEPTHFPROC)(GLfloat d); - GLAPI PFNGLCLEARDEPTHFPROC glad_glClearDepthf; -#define glClearDepthf glad_glClearDepthf - typedef void(APIENTRYP PFNGLGETPROGRAMBINARYPROC)(GLuint program, GLsizei bufSize, GLsizei *length, GLenum *binaryFormat, void *binary); - GLAPI PFNGLGETPROGRAMBINARYPROC glad_glGetProgramBinary; -#define glGetProgramBinary glad_glGetProgramBinary - typedef void(APIENTRYP PFNGLPROGRAMBINARYPROC)(GLuint program, GLenum binaryFormat, const void *binary, GLsizei length); - GLAPI PFNGLPROGRAMBINARYPROC glad_glProgramBinary; -#define glProgramBinary glad_glProgramBinary - typedef void(APIENTRYP PFNGLPROGRAMPARAMETERIPROC)(GLuint program, GLenum pname, GLint value); - GLAPI PFNGLPROGRAMPARAMETERIPROC glad_glProgramParameteri; -#define glProgramParameteri glad_glProgramParameteri - typedef void(APIENTRYP PFNGLUSEPROGRAMSTAGESPROC)(GLuint pipeline, GLbitfield stages, GLuint program); - GLAPI PFNGLUSEPROGRAMSTAGESPROC glad_glUseProgramStages; -#define glUseProgramStages glad_glUseProgramStages - typedef void(APIENTRYP PFNGLACTIVESHADERPROGRAMPROC)(GLuint pipeline, GLuint program); - GLAPI PFNGLACTIVESHADERPROGRAMPROC glad_glActiveShaderProgram; -#define glActiveShaderProgram glad_glActiveShaderProgram - typedef GLuint(APIENTRYP PFNGLCREATESHADERPROGRAMVPROC)(GLenum type, GLsizei count, const GLchar *const *strings); - GLAPI PFNGLCREATESHADERPROGRAMVPROC glad_glCreateShaderProgramv; -#define glCreateShaderProgramv glad_glCreateShaderProgramv - typedef void(APIENTRYP PFNGLBINDPROGRAMPIPELINEPROC)(GLuint pipeline); - GLAPI PFNGLBINDPROGRAMPIPELINEPROC glad_glBindProgramPipeline; -#define glBindProgramPipeline glad_glBindProgramPipeline - typedef void(APIENTRYP PFNGLDELETEPROGRAMPIPELINESPROC)(GLsizei n, const GLuint *pipelines); - GLAPI PFNGLDELETEPROGRAMPIPELINESPROC glad_glDeleteProgramPipelines; -#define glDeleteProgramPipelines glad_glDeleteProgramPipelines - typedef void(APIENTRYP PFNGLGENPROGRAMPIPELINESPROC)(GLsizei n, GLuint *pipelines); - GLAPI PFNGLGENPROGRAMPIPELINESPROC glad_glGenProgramPipelines; -#define glGenProgramPipelines glad_glGenProgramPipelines - typedef GLboolean(APIENTRYP PFNGLISPROGRAMPIPELINEPROC)(GLuint pipeline); - GLAPI PFNGLISPROGRAMPIPELINEPROC glad_glIsProgramPipeline; -#define glIsProgramPipeline glad_glIsProgramPipeline - typedef void(APIENTRYP PFNGLGETPROGRAMPIPELINEIVPROC)(GLuint pipeline, GLenum pname, GLint *params); - GLAPI PFNGLGETPROGRAMPIPELINEIVPROC glad_glGetProgramPipelineiv; -#define glGetProgramPipelineiv glad_glGetProgramPipelineiv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1IPROC)(GLuint program, GLint location, GLint v0); - GLAPI PFNGLPROGRAMUNIFORM1IPROC glad_glProgramUniform1i; -#define glProgramUniform1i glad_glProgramUniform1i - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1IVPROC)(GLuint program, GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLPROGRAMUNIFORM1IVPROC glad_glProgramUniform1iv; -#define glProgramUniform1iv glad_glProgramUniform1iv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1FPROC)(GLuint program, GLint location, GLfloat v0); - GLAPI PFNGLPROGRAMUNIFORM1FPROC glad_glProgramUniform1f; -#define glProgramUniform1f glad_glProgramUniform1f - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1FVPROC)(GLuint program, GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORM1FVPROC glad_glProgramUniform1fv; -#define glProgramUniform1fv glad_glProgramUniform1fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1DPROC)(GLuint program, GLint location, GLdouble v0); - GLAPI PFNGLPROGRAMUNIFORM1DPROC glad_glProgramUniform1d; -#define glProgramUniform1d glad_glProgramUniform1d - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1DVPROC)(GLuint program, GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORM1DVPROC glad_glProgramUniform1dv; -#define glProgramUniform1dv glad_glProgramUniform1dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1UIPROC)(GLuint program, GLint location, GLuint v0); - GLAPI PFNGLPROGRAMUNIFORM1UIPROC glad_glProgramUniform1ui; -#define glProgramUniform1ui glad_glProgramUniform1ui - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM1UIVPROC)(GLuint program, GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLPROGRAMUNIFORM1UIVPROC glad_glProgramUniform1uiv; -#define glProgramUniform1uiv glad_glProgramUniform1uiv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2IPROC)(GLuint program, GLint location, GLint v0, GLint v1); - GLAPI PFNGLPROGRAMUNIFORM2IPROC glad_glProgramUniform2i; -#define glProgramUniform2i glad_glProgramUniform2i - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2IVPROC)(GLuint program, GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLPROGRAMUNIFORM2IVPROC glad_glProgramUniform2iv; -#define glProgramUniform2iv glad_glProgramUniform2iv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2FPROC)(GLuint program, GLint location, GLfloat v0, GLfloat v1); - GLAPI PFNGLPROGRAMUNIFORM2FPROC glad_glProgramUniform2f; -#define glProgramUniform2f glad_glProgramUniform2f - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2FVPROC)(GLuint program, GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORM2FVPROC glad_glProgramUniform2fv; -#define glProgramUniform2fv glad_glProgramUniform2fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2DPROC)(GLuint program, GLint location, GLdouble v0, GLdouble v1); - GLAPI PFNGLPROGRAMUNIFORM2DPROC glad_glProgramUniform2d; -#define glProgramUniform2d glad_glProgramUniform2d - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2DVPROC)(GLuint program, GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORM2DVPROC glad_glProgramUniform2dv; -#define glProgramUniform2dv glad_glProgramUniform2dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2UIPROC)(GLuint program, GLint location, GLuint v0, GLuint v1); - GLAPI PFNGLPROGRAMUNIFORM2UIPROC glad_glProgramUniform2ui; -#define glProgramUniform2ui glad_glProgramUniform2ui - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM2UIVPROC)(GLuint program, GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLPROGRAMUNIFORM2UIVPROC glad_glProgramUniform2uiv; -#define glProgramUniform2uiv glad_glProgramUniform2uiv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3IPROC)(GLuint program, GLint location, GLint v0, GLint v1, GLint v2); - GLAPI PFNGLPROGRAMUNIFORM3IPROC glad_glProgramUniform3i; -#define glProgramUniform3i glad_glProgramUniform3i - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3IVPROC)(GLuint program, GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLPROGRAMUNIFORM3IVPROC glad_glProgramUniform3iv; -#define glProgramUniform3iv glad_glProgramUniform3iv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3FPROC)(GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); - GLAPI PFNGLPROGRAMUNIFORM3FPROC glad_glProgramUniform3f; -#define glProgramUniform3f glad_glProgramUniform3f - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3FVPROC)(GLuint program, GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORM3FVPROC glad_glProgramUniform3fv; -#define glProgramUniform3fv glad_glProgramUniform3fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3DPROC)(GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2); - GLAPI PFNGLPROGRAMUNIFORM3DPROC glad_glProgramUniform3d; -#define glProgramUniform3d glad_glProgramUniform3d - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3DVPROC)(GLuint program, GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORM3DVPROC glad_glProgramUniform3dv; -#define glProgramUniform3dv glad_glProgramUniform3dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3UIPROC)(GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); - GLAPI PFNGLPROGRAMUNIFORM3UIPROC glad_glProgramUniform3ui; -#define glProgramUniform3ui glad_glProgramUniform3ui - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM3UIVPROC)(GLuint program, GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLPROGRAMUNIFORM3UIVPROC glad_glProgramUniform3uiv; -#define glProgramUniform3uiv glad_glProgramUniform3uiv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4IPROC)(GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); - GLAPI PFNGLPROGRAMUNIFORM4IPROC glad_glProgramUniform4i; -#define glProgramUniform4i glad_glProgramUniform4i - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4IVPROC)(GLuint program, GLint location, GLsizei count, const GLint *value); - GLAPI PFNGLPROGRAMUNIFORM4IVPROC glad_glProgramUniform4iv; -#define glProgramUniform4iv glad_glProgramUniform4iv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4FPROC)(GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); - GLAPI PFNGLPROGRAMUNIFORM4FPROC glad_glProgramUniform4f; -#define glProgramUniform4f glad_glProgramUniform4f - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4FVPROC)(GLuint program, GLint location, GLsizei count, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORM4FVPROC glad_glProgramUniform4fv; -#define glProgramUniform4fv glad_glProgramUniform4fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4DPROC)(GLuint program, GLint location, GLdouble v0, GLdouble v1, GLdouble v2, GLdouble v3); - GLAPI PFNGLPROGRAMUNIFORM4DPROC glad_glProgramUniform4d; -#define glProgramUniform4d glad_glProgramUniform4d - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4DVPROC)(GLuint program, GLint location, GLsizei count, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORM4DVPROC glad_glProgramUniform4dv; -#define glProgramUniform4dv glad_glProgramUniform4dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4UIPROC)(GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); - GLAPI PFNGLPROGRAMUNIFORM4UIPROC glad_glProgramUniform4ui; -#define glProgramUniform4ui glad_glProgramUniform4ui - typedef void(APIENTRYP PFNGLPROGRAMUNIFORM4UIVPROC)(GLuint program, GLint location, GLsizei count, const GLuint *value); - GLAPI PFNGLPROGRAMUNIFORM4UIVPROC glad_glProgramUniform4uiv; -#define glProgramUniform4uiv glad_glProgramUniform4uiv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX2FVPROC glad_glProgramUniformMatrix2fv; -#define glProgramUniformMatrix2fv glad_glProgramUniformMatrix2fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX3FVPROC glad_glProgramUniformMatrix3fv; -#define glProgramUniformMatrix3fv glad_glProgramUniformMatrix3fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX4FVPROC glad_glProgramUniformMatrix4fv; -#define glProgramUniformMatrix4fv glad_glProgramUniformMatrix4fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX2DVPROC glad_glProgramUniformMatrix2dv; -#define glProgramUniformMatrix2dv glad_glProgramUniformMatrix2dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX3DVPROC glad_glProgramUniformMatrix3dv; -#define glProgramUniformMatrix3dv glad_glProgramUniformMatrix3dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX4DVPROC glad_glProgramUniformMatrix4dv; -#define glProgramUniformMatrix4dv glad_glProgramUniformMatrix4dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC glad_glProgramUniformMatrix2x3fv; -#define glProgramUniformMatrix2x3fv glad_glProgramUniformMatrix2x3fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC glad_glProgramUniformMatrix3x2fv; -#define glProgramUniformMatrix3x2fv glad_glProgramUniformMatrix3x2fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC glad_glProgramUniformMatrix2x4fv; -#define glProgramUniformMatrix2x4fv glad_glProgramUniformMatrix2x4fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC glad_glProgramUniformMatrix4x2fv; -#define glProgramUniformMatrix4x2fv glad_glProgramUniformMatrix4x2fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC glad_glProgramUniformMatrix3x4fv; -#define glProgramUniformMatrix3x4fv glad_glProgramUniformMatrix3x4fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC glad_glProgramUniformMatrix4x3fv; -#define glProgramUniformMatrix4x3fv glad_glProgramUniformMatrix4x3fv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC glad_glProgramUniformMatrix2x3dv; -#define glProgramUniformMatrix2x3dv glad_glProgramUniformMatrix2x3dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC glad_glProgramUniformMatrix3x2dv; -#define glProgramUniformMatrix3x2dv glad_glProgramUniformMatrix3x2dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC glad_glProgramUniformMatrix2x4dv; -#define glProgramUniformMatrix2x4dv glad_glProgramUniformMatrix2x4dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC glad_glProgramUniformMatrix4x2dv; -#define glProgramUniformMatrix4x2dv glad_glProgramUniformMatrix4x2dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC glad_glProgramUniformMatrix3x4dv; -#define glProgramUniformMatrix3x4dv glad_glProgramUniformMatrix3x4dv - typedef void(APIENTRYP PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC)(GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble *value); - GLAPI PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC glad_glProgramUniformMatrix4x3dv; -#define glProgramUniformMatrix4x3dv glad_glProgramUniformMatrix4x3dv - typedef void(APIENTRYP PFNGLVALIDATEPROGRAMPIPELINEPROC)(GLuint pipeline); - GLAPI PFNGLVALIDATEPROGRAMPIPELINEPROC glad_glValidateProgramPipeline; -#define glValidateProgramPipeline glad_glValidateProgramPipeline - typedef void(APIENTRYP PFNGLGETPROGRAMPIPELINEINFOLOGPROC)(GLuint pipeline, GLsizei bufSize, GLsizei *length, GLchar *infoLog); - GLAPI PFNGLGETPROGRAMPIPELINEINFOLOGPROC glad_glGetProgramPipelineInfoLog; -#define glGetProgramPipelineInfoLog glad_glGetProgramPipelineInfoLog - typedef void(APIENTRYP PFNGLVERTEXATTRIBL1DPROC)(GLuint index, GLdouble x); - GLAPI PFNGLVERTEXATTRIBL1DPROC glad_glVertexAttribL1d; -#define glVertexAttribL1d glad_glVertexAttribL1d - typedef void(APIENTRYP PFNGLVERTEXATTRIBL2DPROC)(GLuint index, GLdouble x, GLdouble y); - GLAPI PFNGLVERTEXATTRIBL2DPROC glad_glVertexAttribL2d; -#define glVertexAttribL2d glad_glVertexAttribL2d - typedef void(APIENTRYP PFNGLVERTEXATTRIBL3DPROC)(GLuint index, GLdouble x, GLdouble y, GLdouble z); - GLAPI PFNGLVERTEXATTRIBL3DPROC glad_glVertexAttribL3d; -#define glVertexAttribL3d glad_glVertexAttribL3d - typedef void(APIENTRYP PFNGLVERTEXATTRIBL4DPROC)(GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); - GLAPI PFNGLVERTEXATTRIBL4DPROC glad_glVertexAttribL4d; -#define glVertexAttribL4d glad_glVertexAttribL4d - typedef void(APIENTRYP PFNGLVERTEXATTRIBL1DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIBL1DVPROC glad_glVertexAttribL1dv; -#define glVertexAttribL1dv glad_glVertexAttribL1dv - typedef void(APIENTRYP PFNGLVERTEXATTRIBL2DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIBL2DVPROC glad_glVertexAttribL2dv; -#define glVertexAttribL2dv glad_glVertexAttribL2dv - typedef void(APIENTRYP PFNGLVERTEXATTRIBL3DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIBL3DVPROC glad_glVertexAttribL3dv; -#define glVertexAttribL3dv glad_glVertexAttribL3dv - typedef void(APIENTRYP PFNGLVERTEXATTRIBL4DVPROC)(GLuint index, const GLdouble *v); - GLAPI PFNGLVERTEXATTRIBL4DVPROC glad_glVertexAttribL4dv; -#define glVertexAttribL4dv glad_glVertexAttribL4dv - typedef void(APIENTRYP PFNGLVERTEXATTRIBLPOINTERPROC)(GLuint index, GLint size, GLenum type, GLsizei stride, const void *pointer); - GLAPI PFNGLVERTEXATTRIBLPOINTERPROC glad_glVertexAttribLPointer; -#define glVertexAttribLPointer glad_glVertexAttribLPointer - typedef void(APIENTRYP PFNGLGETVERTEXATTRIBLDVPROC)(GLuint index, GLenum pname, GLdouble *params); - GLAPI PFNGLGETVERTEXATTRIBLDVPROC glad_glGetVertexAttribLdv; -#define glGetVertexAttribLdv glad_glGetVertexAttribLdv - typedef void(APIENTRYP PFNGLVIEWPORTARRAYVPROC)(GLuint first, GLsizei count, const GLfloat *v); - GLAPI PFNGLVIEWPORTARRAYVPROC glad_glViewportArrayv; -#define glViewportArrayv glad_glViewportArrayv - typedef void(APIENTRYP PFNGLVIEWPORTINDEXEDFPROC)(GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); - GLAPI PFNGLVIEWPORTINDEXEDFPROC glad_glViewportIndexedf; -#define glViewportIndexedf glad_glViewportIndexedf - typedef void(APIENTRYP PFNGLVIEWPORTINDEXEDFVPROC)(GLuint index, const GLfloat *v); - GLAPI PFNGLVIEWPORTINDEXEDFVPROC glad_glViewportIndexedfv; -#define glViewportIndexedfv glad_glViewportIndexedfv - typedef void(APIENTRYP PFNGLSCISSORARRAYVPROC)(GLuint first, GLsizei count, const GLint *v); - GLAPI PFNGLSCISSORARRAYVPROC glad_glScissorArrayv; -#define glScissorArrayv glad_glScissorArrayv - typedef void(APIENTRYP PFNGLSCISSORINDEXEDPROC)(GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); - GLAPI PFNGLSCISSORINDEXEDPROC glad_glScissorIndexed; -#define glScissorIndexed glad_glScissorIndexed - typedef void(APIENTRYP PFNGLSCISSORINDEXEDVPROC)(GLuint index, const GLint *v); - GLAPI PFNGLSCISSORINDEXEDVPROC glad_glScissorIndexedv; -#define glScissorIndexedv glad_glScissorIndexedv - typedef void(APIENTRYP PFNGLDEPTHRANGEARRAYVPROC)(GLuint first, GLsizei count, const GLdouble *v); - GLAPI PFNGLDEPTHRANGEARRAYVPROC glad_glDepthRangeArrayv; -#define glDepthRangeArrayv glad_glDepthRangeArrayv - typedef void(APIENTRYP PFNGLDEPTHRANGEINDEXEDPROC)(GLuint index, GLdouble n, GLdouble f); - GLAPI PFNGLDEPTHRANGEINDEXEDPROC glad_glDepthRangeIndexed; -#define glDepthRangeIndexed glad_glDepthRangeIndexed - typedef void(APIENTRYP PFNGLGETFLOATI_VPROC)(GLenum target, GLuint index, GLfloat *data); - GLAPI PFNGLGETFLOATI_VPROC glad_glGetFloati_v; -#define glGetFloati_v glad_glGetFloati_v - typedef void(APIENTRYP PFNGLGETDOUBLEI_VPROC)(GLenum target, GLuint index, GLdouble *data); - GLAPI PFNGLGETDOUBLEI_VPROC glad_glGetDoublei_v; -#define glGetDoublei_v glad_glGetDoublei_v -#endif -#ifndef GL_VERSION_4_2 -#define GL_VERSION_4_2 1 - GLAPI int GLAD_GL_VERSION_4_2; - typedef void(APIENTRYP PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEPROC)(GLenum mode, GLint first, GLsizei count, GLsizei instancecount, GLuint baseinstance); - GLAPI PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEPROC glad_glDrawArraysInstancedBaseInstance; -#define glDrawArraysInstancedBaseInstance glad_glDrawArraysInstancedBaseInstance - typedef void(APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLuint baseinstance); - GLAPI PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEPROC glad_glDrawElementsInstancedBaseInstance; -#define glDrawElementsInstancedBaseInstance glad_glDrawElementsInstancedBaseInstance - typedef void(APIENTRYP PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei instancecount, GLint basevertex, GLuint baseinstance); - GLAPI PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEPROC glad_glDrawElementsInstancedBaseVertexBaseInstance; -#define glDrawElementsInstancedBaseVertexBaseInstance glad_glDrawElementsInstancedBaseVertexBaseInstance - typedef void(APIENTRYP PFNGLGETINTERNALFORMATIVPROC)(GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint *params); - GLAPI PFNGLGETINTERNALFORMATIVPROC glad_glGetInternalformativ; -#define glGetInternalformativ glad_glGetInternalformativ - typedef void(APIENTRYP PFNGLGETACTIVEATOMICCOUNTERBUFFERIVPROC)(GLuint program, GLuint bufferIndex, GLenum pname, GLint *params); - GLAPI PFNGLGETACTIVEATOMICCOUNTERBUFFERIVPROC glad_glGetActiveAtomicCounterBufferiv; -#define glGetActiveAtomicCounterBufferiv glad_glGetActiveAtomicCounterBufferiv - typedef void(APIENTRYP PFNGLBINDIMAGETEXTUREPROC)(GLuint unit, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLenum format); - GLAPI PFNGLBINDIMAGETEXTUREPROC glad_glBindImageTexture; -#define glBindImageTexture glad_glBindImageTexture - typedef void(APIENTRYP PFNGLMEMORYBARRIERPROC)(GLbitfield barriers); - GLAPI PFNGLMEMORYBARRIERPROC glad_glMemoryBarrier; -#define glMemoryBarrier glad_glMemoryBarrier - typedef void(APIENTRYP PFNGLTEXSTORAGE1DPROC)(GLenum target, GLsizei levels, GLenum internalformat, GLsizei width); - GLAPI PFNGLTEXSTORAGE1DPROC glad_glTexStorage1D; -#define glTexStorage1D glad_glTexStorage1D - typedef void(APIENTRYP PFNGLTEXSTORAGE2DPROC)(GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); - GLAPI PFNGLTEXSTORAGE2DPROC glad_glTexStorage2D; -#define glTexStorage2D glad_glTexStorage2D - typedef void(APIENTRYP PFNGLTEXSTORAGE3DPROC)(GLenum target, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); - GLAPI PFNGLTEXSTORAGE3DPROC glad_glTexStorage3D; -#define glTexStorage3D glad_glTexStorage3D - typedef void(APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDPROC)(GLenum mode, GLuint id, GLsizei instancecount); - GLAPI PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDPROC glad_glDrawTransformFeedbackInstanced; -#define glDrawTransformFeedbackInstanced glad_glDrawTransformFeedbackInstanced - typedef void(APIENTRYP PFNGLDRAWTRANSFORMFEEDBACKSTREAMINSTANCEDPROC)(GLenum mode, GLuint id, GLuint stream, GLsizei instancecount); - GLAPI PFNGLDRAWTRANSFORMFEEDBACKSTREAMINSTANCEDPROC glad_glDrawTransformFeedbackStreamInstanced; -#define glDrawTransformFeedbackStreamInstanced glad_glDrawTransformFeedbackStreamInstanced -#endif -#ifndef GL_VERSION_4_3 -#define GL_VERSION_4_3 1 - GLAPI int GLAD_GL_VERSION_4_3; - typedef void(APIENTRYP PFNGLCLEARBUFFERDATAPROC)(GLenum target, GLenum internalformat, GLenum format, GLenum type, const void *data); - GLAPI PFNGLCLEARBUFFERDATAPROC glad_glClearBufferData; -#define glClearBufferData glad_glClearBufferData - typedef void(APIENTRYP PFNGLCLEARBUFFERSUBDATAPROC)(GLenum target, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); - GLAPI PFNGLCLEARBUFFERSUBDATAPROC glad_glClearBufferSubData; -#define glClearBufferSubData glad_glClearBufferSubData - typedef void(APIENTRYP PFNGLDISPATCHCOMPUTEPROC)(GLuint num_groups_x, GLuint num_groups_y, GLuint num_groups_z); - GLAPI PFNGLDISPATCHCOMPUTEPROC glad_glDispatchCompute; -#define glDispatchCompute glad_glDispatchCompute - typedef void(APIENTRYP PFNGLDISPATCHCOMPUTEINDIRECTPROC)(GLintptr indirect); - GLAPI PFNGLDISPATCHCOMPUTEINDIRECTPROC glad_glDispatchComputeIndirect; -#define glDispatchComputeIndirect glad_glDispatchComputeIndirect - typedef void(APIENTRYP PFNGLCOPYIMAGESUBDATAPROC)(GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei srcWidth, GLsizei srcHeight, GLsizei srcDepth); - GLAPI PFNGLCOPYIMAGESUBDATAPROC glad_glCopyImageSubData; -#define glCopyImageSubData glad_glCopyImageSubData - typedef void(APIENTRYP PFNGLFRAMEBUFFERPARAMETERIPROC)(GLenum target, GLenum pname, GLint param); - GLAPI PFNGLFRAMEBUFFERPARAMETERIPROC glad_glFramebufferParameteri; -#define glFramebufferParameteri glad_glFramebufferParameteri - typedef void(APIENTRYP PFNGLGETFRAMEBUFFERPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params); - GLAPI PFNGLGETFRAMEBUFFERPARAMETERIVPROC glad_glGetFramebufferParameteriv; -#define glGetFramebufferParameteriv glad_glGetFramebufferParameteriv - typedef void(APIENTRYP PFNGLGETINTERNALFORMATI64VPROC)(GLenum target, GLenum internalformat, GLenum pname, GLsizei count, GLint64 *params); - GLAPI PFNGLGETINTERNALFORMATI64VPROC glad_glGetInternalformati64v; -#define glGetInternalformati64v glad_glGetInternalformati64v - typedef void(APIENTRYP PFNGLINVALIDATETEXSUBIMAGEPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth); - GLAPI PFNGLINVALIDATETEXSUBIMAGEPROC glad_glInvalidateTexSubImage; -#define glInvalidateTexSubImage glad_glInvalidateTexSubImage - typedef void(APIENTRYP PFNGLINVALIDATETEXIMAGEPROC)(GLuint texture, GLint level); - GLAPI PFNGLINVALIDATETEXIMAGEPROC glad_glInvalidateTexImage; -#define glInvalidateTexImage glad_glInvalidateTexImage - typedef void(APIENTRYP PFNGLINVALIDATEBUFFERSUBDATAPROC)(GLuint buffer, GLintptr offset, GLsizeiptr length); - GLAPI PFNGLINVALIDATEBUFFERSUBDATAPROC glad_glInvalidateBufferSubData; -#define glInvalidateBufferSubData glad_glInvalidateBufferSubData - typedef void(APIENTRYP PFNGLINVALIDATEBUFFERDATAPROC)(GLuint buffer); - GLAPI PFNGLINVALIDATEBUFFERDATAPROC glad_glInvalidateBufferData; -#define glInvalidateBufferData glad_glInvalidateBufferData - typedef void(APIENTRYP PFNGLINVALIDATEFRAMEBUFFERPROC)(GLenum target, GLsizei numAttachments, const GLenum *attachments); - GLAPI PFNGLINVALIDATEFRAMEBUFFERPROC glad_glInvalidateFramebuffer; -#define glInvalidateFramebuffer glad_glInvalidateFramebuffer - typedef void(APIENTRYP PFNGLINVALIDATESUBFRAMEBUFFERPROC)(GLenum target, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLINVALIDATESUBFRAMEBUFFERPROC glad_glInvalidateSubFramebuffer; -#define glInvalidateSubFramebuffer glad_glInvalidateSubFramebuffer - typedef void(APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTPROC)(GLenum mode, const void *indirect, GLsizei drawcount, GLsizei stride); - GLAPI PFNGLMULTIDRAWARRAYSINDIRECTPROC glad_glMultiDrawArraysIndirect; -#define glMultiDrawArraysIndirect glad_glMultiDrawArraysIndirect - typedef void(APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTPROC)(GLenum mode, GLenum type, const void *indirect, GLsizei drawcount, GLsizei stride); - GLAPI PFNGLMULTIDRAWELEMENTSINDIRECTPROC glad_glMultiDrawElementsIndirect; -#define glMultiDrawElementsIndirect glad_glMultiDrawElementsIndirect - typedef void(APIENTRYP PFNGLGETPROGRAMINTERFACEIVPROC)(GLuint program, GLenum programInterface, GLenum pname, GLint *params); - GLAPI PFNGLGETPROGRAMINTERFACEIVPROC glad_glGetProgramInterfaceiv; -#define glGetProgramInterfaceiv glad_glGetProgramInterfaceiv - typedef GLuint(APIENTRYP PFNGLGETPROGRAMRESOURCEINDEXPROC)(GLuint program, GLenum programInterface, const GLchar *name); - GLAPI PFNGLGETPROGRAMRESOURCEINDEXPROC glad_glGetProgramResourceIndex; -#define glGetProgramResourceIndex glad_glGetProgramResourceIndex - typedef void(APIENTRYP PFNGLGETPROGRAMRESOURCENAMEPROC)(GLuint program, GLenum programInterface, GLuint index, GLsizei bufSize, GLsizei *length, GLchar *name); - GLAPI PFNGLGETPROGRAMRESOURCENAMEPROC glad_glGetProgramResourceName; -#define glGetProgramResourceName glad_glGetProgramResourceName - typedef void(APIENTRYP PFNGLGETPROGRAMRESOURCEIVPROC)(GLuint program, GLenum programInterface, GLuint index, GLsizei propCount, const GLenum *props, GLsizei count, GLsizei *length, GLint *params); - GLAPI PFNGLGETPROGRAMRESOURCEIVPROC glad_glGetProgramResourceiv; -#define glGetProgramResourceiv glad_glGetProgramResourceiv - typedef GLint(APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONPROC)(GLuint program, GLenum programInterface, const GLchar *name); - GLAPI PFNGLGETPROGRAMRESOURCELOCATIONPROC glad_glGetProgramResourceLocation; -#define glGetProgramResourceLocation glad_glGetProgramResourceLocation - typedef GLint(APIENTRYP PFNGLGETPROGRAMRESOURCELOCATIONINDEXPROC)(GLuint program, GLenum programInterface, const GLchar *name); - GLAPI PFNGLGETPROGRAMRESOURCELOCATIONINDEXPROC glad_glGetProgramResourceLocationIndex; -#define glGetProgramResourceLocationIndex glad_glGetProgramResourceLocationIndex - typedef void(APIENTRYP PFNGLSHADERSTORAGEBLOCKBINDINGPROC)(GLuint program, GLuint storageBlockIndex, GLuint storageBlockBinding); - GLAPI PFNGLSHADERSTORAGEBLOCKBINDINGPROC glad_glShaderStorageBlockBinding; -#define glShaderStorageBlockBinding glad_glShaderStorageBlockBinding - typedef void(APIENTRYP PFNGLTEXBUFFERRANGEPROC)(GLenum target, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); - GLAPI PFNGLTEXBUFFERRANGEPROC glad_glTexBufferRange; -#define glTexBufferRange glad_glTexBufferRange - typedef void(APIENTRYP PFNGLTEXSTORAGE2DMULTISAMPLEPROC)(GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); - GLAPI PFNGLTEXSTORAGE2DMULTISAMPLEPROC glad_glTexStorage2DMultisample; -#define glTexStorage2DMultisample glad_glTexStorage2DMultisample - typedef void(APIENTRYP PFNGLTEXSTORAGE3DMULTISAMPLEPROC)(GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); - GLAPI PFNGLTEXSTORAGE3DMULTISAMPLEPROC glad_glTexStorage3DMultisample; -#define glTexStorage3DMultisample glad_glTexStorage3DMultisample - typedef void(APIENTRYP PFNGLTEXTUREVIEWPROC)(GLuint texture, GLenum target, GLuint origtexture, GLenum internalformat, GLuint minlevel, GLuint numlevels, GLuint minlayer, GLuint numlayers); - GLAPI PFNGLTEXTUREVIEWPROC glad_glTextureView; -#define glTextureView glad_glTextureView - typedef void(APIENTRYP PFNGLBINDVERTEXBUFFERPROC)(GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); - GLAPI PFNGLBINDVERTEXBUFFERPROC glad_glBindVertexBuffer; -#define glBindVertexBuffer glad_glBindVertexBuffer - typedef void(APIENTRYP PFNGLVERTEXATTRIBFORMATPROC)(GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); - GLAPI PFNGLVERTEXATTRIBFORMATPROC glad_glVertexAttribFormat; -#define glVertexAttribFormat glad_glVertexAttribFormat - typedef void(APIENTRYP PFNGLVERTEXATTRIBIFORMATPROC)(GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); - GLAPI PFNGLVERTEXATTRIBIFORMATPROC glad_glVertexAttribIFormat; -#define glVertexAttribIFormat glad_glVertexAttribIFormat - typedef void(APIENTRYP PFNGLVERTEXATTRIBLFORMATPROC)(GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); - GLAPI PFNGLVERTEXATTRIBLFORMATPROC glad_glVertexAttribLFormat; -#define glVertexAttribLFormat glad_glVertexAttribLFormat - typedef void(APIENTRYP PFNGLVERTEXATTRIBBINDINGPROC)(GLuint attribindex, GLuint bindingindex); - GLAPI PFNGLVERTEXATTRIBBINDINGPROC glad_glVertexAttribBinding; -#define glVertexAttribBinding glad_glVertexAttribBinding - typedef void(APIENTRYP PFNGLVERTEXBINDINGDIVISORPROC)(GLuint bindingindex, GLuint divisor); - GLAPI PFNGLVERTEXBINDINGDIVISORPROC glad_glVertexBindingDivisor; -#define glVertexBindingDivisor glad_glVertexBindingDivisor - typedef void(APIENTRYP PFNGLDEBUGMESSAGECONTROLPROC)(GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled); - GLAPI PFNGLDEBUGMESSAGECONTROLPROC glad_glDebugMessageControl; -#define glDebugMessageControl glad_glDebugMessageControl - typedef void(APIENTRYP PFNGLDEBUGMESSAGEINSERTPROC)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf); - GLAPI PFNGLDEBUGMESSAGEINSERTPROC glad_glDebugMessageInsert; -#define glDebugMessageInsert glad_glDebugMessageInsert - typedef void(APIENTRYP PFNGLDEBUGMESSAGECALLBACKPROC)(GLDEBUGPROC callback, const void *userParam); - GLAPI PFNGLDEBUGMESSAGECALLBACKPROC glad_glDebugMessageCallback; -#define glDebugMessageCallback glad_glDebugMessageCallback - typedef GLuint(APIENTRYP PFNGLGETDEBUGMESSAGELOGPROC)(GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog); - GLAPI PFNGLGETDEBUGMESSAGELOGPROC glad_glGetDebugMessageLog; -#define glGetDebugMessageLog glad_glGetDebugMessageLog - typedef void(APIENTRYP PFNGLPUSHDEBUGGROUPPROC)(GLenum source, GLuint id, GLsizei length, const GLchar *message); - GLAPI PFNGLPUSHDEBUGGROUPPROC glad_glPushDebugGroup; -#define glPushDebugGroup glad_glPushDebugGroup - typedef void(APIENTRYP PFNGLPOPDEBUGGROUPPROC)(void); - GLAPI PFNGLPOPDEBUGGROUPPROC glad_glPopDebugGroup; -#define glPopDebugGroup glad_glPopDebugGroup - typedef void(APIENTRYP PFNGLOBJECTLABELPROC)(GLenum identifier, GLuint name, GLsizei length, const GLchar *label); - GLAPI PFNGLOBJECTLABELPROC glad_glObjectLabel; -#define glObjectLabel glad_glObjectLabel - typedef void(APIENTRYP PFNGLGETOBJECTLABELPROC)(GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label); - GLAPI PFNGLGETOBJECTLABELPROC glad_glGetObjectLabel; -#define glGetObjectLabel glad_glGetObjectLabel - typedef void(APIENTRYP PFNGLOBJECTPTRLABELPROC)(const void *ptr, GLsizei length, const GLchar *label); - GLAPI PFNGLOBJECTPTRLABELPROC glad_glObjectPtrLabel; -#define glObjectPtrLabel glad_glObjectPtrLabel - typedef void(APIENTRYP PFNGLGETOBJECTPTRLABELPROC)(const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label); - GLAPI PFNGLGETOBJECTPTRLABELPROC glad_glGetObjectPtrLabel; -#define glGetObjectPtrLabel glad_glGetObjectPtrLabel - typedef void(APIENTRYP PFNGLGETPOINTERVPROC)(GLenum pname, void **params); - GLAPI PFNGLGETPOINTERVPROC glad_glGetPointerv; -#define glGetPointerv glad_glGetPointerv -#endif -#ifndef GL_VERSION_4_4 -#define GL_VERSION_4_4 1 - GLAPI int GLAD_GL_VERSION_4_4; - typedef void(APIENTRYP PFNGLBUFFERSTORAGEPROC)(GLenum target, GLsizeiptr size, const void *data, GLbitfield flags); - GLAPI PFNGLBUFFERSTORAGEPROC glad_glBufferStorage; -#define glBufferStorage glad_glBufferStorage - typedef void(APIENTRYP PFNGLCLEARTEXIMAGEPROC)(GLuint texture, GLint level, GLenum format, GLenum type, const void *data); - GLAPI PFNGLCLEARTEXIMAGEPROC glad_glClearTexImage; -#define glClearTexImage glad_glClearTexImage - typedef void(APIENTRYP PFNGLCLEARTEXSUBIMAGEPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *data); - GLAPI PFNGLCLEARTEXSUBIMAGEPROC glad_glClearTexSubImage; -#define glClearTexSubImage glad_glClearTexSubImage - typedef void(APIENTRYP PFNGLBINDBUFFERSBASEPROC)(GLenum target, GLuint first, GLsizei count, const GLuint *buffers); - GLAPI PFNGLBINDBUFFERSBASEPROC glad_glBindBuffersBase; -#define glBindBuffersBase glad_glBindBuffersBase - typedef void(APIENTRYP PFNGLBINDBUFFERSRANGEPROC)(GLenum target, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizeiptr *sizes); - GLAPI PFNGLBINDBUFFERSRANGEPROC glad_glBindBuffersRange; -#define glBindBuffersRange glad_glBindBuffersRange - typedef void(APIENTRYP PFNGLBINDTEXTURESPROC)(GLuint first, GLsizei count, const GLuint *textures); - GLAPI PFNGLBINDTEXTURESPROC glad_glBindTextures; -#define glBindTextures glad_glBindTextures - typedef void(APIENTRYP PFNGLBINDSAMPLERSPROC)(GLuint first, GLsizei count, const GLuint *samplers); - GLAPI PFNGLBINDSAMPLERSPROC glad_glBindSamplers; -#define glBindSamplers glad_glBindSamplers - typedef void(APIENTRYP PFNGLBINDIMAGETEXTURESPROC)(GLuint first, GLsizei count, const GLuint *textures); - GLAPI PFNGLBINDIMAGETEXTURESPROC glad_glBindImageTextures; -#define glBindImageTextures glad_glBindImageTextures - typedef void(APIENTRYP PFNGLBINDVERTEXBUFFERSPROC)(GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); - GLAPI PFNGLBINDVERTEXBUFFERSPROC glad_glBindVertexBuffers; -#define glBindVertexBuffers glad_glBindVertexBuffers -#endif -#ifndef GL_VERSION_4_5 -#define GL_VERSION_4_5 1 - GLAPI int GLAD_GL_VERSION_4_5; - typedef void(APIENTRYP PFNGLCLIPCONTROLPROC)(GLenum origin, GLenum depth); - GLAPI PFNGLCLIPCONTROLPROC glad_glClipControl; -#define glClipControl glad_glClipControl - typedef void(APIENTRYP PFNGLCREATETRANSFORMFEEDBACKSPROC)(GLsizei n, GLuint *ids); - GLAPI PFNGLCREATETRANSFORMFEEDBACKSPROC glad_glCreateTransformFeedbacks; -#define glCreateTransformFeedbacks glad_glCreateTransformFeedbacks - typedef void(APIENTRYP PFNGLTRANSFORMFEEDBACKBUFFERBASEPROC)(GLuint xfb, GLuint index, GLuint buffer); - GLAPI PFNGLTRANSFORMFEEDBACKBUFFERBASEPROC glad_glTransformFeedbackBufferBase; -#define glTransformFeedbackBufferBase glad_glTransformFeedbackBufferBase - typedef void(APIENTRYP PFNGLTRANSFORMFEEDBACKBUFFERRANGEPROC)(GLuint xfb, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); - GLAPI PFNGLTRANSFORMFEEDBACKBUFFERRANGEPROC glad_glTransformFeedbackBufferRange; -#define glTransformFeedbackBufferRange glad_glTransformFeedbackBufferRange - typedef void(APIENTRYP PFNGLGETTRANSFORMFEEDBACKIVPROC)(GLuint xfb, GLenum pname, GLint *param); - GLAPI PFNGLGETTRANSFORMFEEDBACKIVPROC glad_glGetTransformFeedbackiv; -#define glGetTransformFeedbackiv glad_glGetTransformFeedbackiv - typedef void(APIENTRYP PFNGLGETTRANSFORMFEEDBACKI_VPROC)(GLuint xfb, GLenum pname, GLuint index, GLint *param); - GLAPI PFNGLGETTRANSFORMFEEDBACKI_VPROC glad_glGetTransformFeedbacki_v; -#define glGetTransformFeedbacki_v glad_glGetTransformFeedbacki_v - typedef void(APIENTRYP PFNGLGETTRANSFORMFEEDBACKI64_VPROC)(GLuint xfb, GLenum pname, GLuint index, GLint64 *param); - GLAPI PFNGLGETTRANSFORMFEEDBACKI64_VPROC glad_glGetTransformFeedbacki64_v; -#define glGetTransformFeedbacki64_v glad_glGetTransformFeedbacki64_v - typedef void(APIENTRYP PFNGLCREATEBUFFERSPROC)(GLsizei n, GLuint *buffers); - GLAPI PFNGLCREATEBUFFERSPROC glad_glCreateBuffers; -#define glCreateBuffers glad_glCreateBuffers - typedef void(APIENTRYP PFNGLNAMEDBUFFERSTORAGEPROC)(GLuint buffer, GLsizeiptr size, const void *data, GLbitfield flags); - GLAPI PFNGLNAMEDBUFFERSTORAGEPROC glad_glNamedBufferStorage; -#define glNamedBufferStorage glad_glNamedBufferStorage - typedef void(APIENTRYP PFNGLNAMEDBUFFERDATAPROC)(GLuint buffer, GLsizeiptr size, const void *data, GLenum usage); - GLAPI PFNGLNAMEDBUFFERDATAPROC glad_glNamedBufferData; -#define glNamedBufferData glad_glNamedBufferData - typedef void(APIENTRYP PFNGLNAMEDBUFFERSUBDATAPROC)(GLuint buffer, GLintptr offset, GLsizeiptr size, const void *data); - GLAPI PFNGLNAMEDBUFFERSUBDATAPROC glad_glNamedBufferSubData; -#define glNamedBufferSubData glad_glNamedBufferSubData - typedef void(APIENTRYP PFNGLCOPYNAMEDBUFFERSUBDATAPROC)(GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); - GLAPI PFNGLCOPYNAMEDBUFFERSUBDATAPROC glad_glCopyNamedBufferSubData; -#define glCopyNamedBufferSubData glad_glCopyNamedBufferSubData - typedef void(APIENTRYP PFNGLCLEARNAMEDBUFFERDATAPROC)(GLuint buffer, GLenum internalformat, GLenum format, GLenum type, const void *data); - GLAPI PFNGLCLEARNAMEDBUFFERDATAPROC glad_glClearNamedBufferData; -#define glClearNamedBufferData glad_glClearNamedBufferData - typedef void(APIENTRYP PFNGLCLEARNAMEDBUFFERSUBDATAPROC)(GLuint buffer, GLenum internalformat, GLintptr offset, GLsizeiptr size, GLenum format, GLenum type, const void *data); - GLAPI PFNGLCLEARNAMEDBUFFERSUBDATAPROC glad_glClearNamedBufferSubData; -#define glClearNamedBufferSubData glad_glClearNamedBufferSubData - typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERPROC)(GLuint buffer, GLenum access); - GLAPI PFNGLMAPNAMEDBUFFERPROC glad_glMapNamedBuffer; -#define glMapNamedBuffer glad_glMapNamedBuffer - typedef void *(APIENTRYP PFNGLMAPNAMEDBUFFERRANGEPROC)(GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); - GLAPI PFNGLMAPNAMEDBUFFERRANGEPROC glad_glMapNamedBufferRange; -#define glMapNamedBufferRange glad_glMapNamedBufferRange - typedef GLboolean(APIENTRYP PFNGLUNMAPNAMEDBUFFERPROC)(GLuint buffer); - GLAPI PFNGLUNMAPNAMEDBUFFERPROC glad_glUnmapNamedBuffer; -#define glUnmapNamedBuffer glad_glUnmapNamedBuffer - typedef void(APIENTRYP PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEPROC)(GLuint buffer, GLintptr offset, GLsizeiptr length); - GLAPI PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEPROC glad_glFlushMappedNamedBufferRange; -#define glFlushMappedNamedBufferRange glad_glFlushMappedNamedBufferRange - typedef void(APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERIVPROC)(GLuint buffer, GLenum pname, GLint *params); - GLAPI PFNGLGETNAMEDBUFFERPARAMETERIVPROC glad_glGetNamedBufferParameteriv; -#define glGetNamedBufferParameteriv glad_glGetNamedBufferParameteriv - typedef void(APIENTRYP PFNGLGETNAMEDBUFFERPARAMETERI64VPROC)(GLuint buffer, GLenum pname, GLint64 *params); - GLAPI PFNGLGETNAMEDBUFFERPARAMETERI64VPROC glad_glGetNamedBufferParameteri64v; -#define glGetNamedBufferParameteri64v glad_glGetNamedBufferParameteri64v - typedef void(APIENTRYP PFNGLGETNAMEDBUFFERPOINTERVPROC)(GLuint buffer, GLenum pname, void **params); - GLAPI PFNGLGETNAMEDBUFFERPOINTERVPROC glad_glGetNamedBufferPointerv; -#define glGetNamedBufferPointerv glad_glGetNamedBufferPointerv - typedef void(APIENTRYP PFNGLGETNAMEDBUFFERSUBDATAPROC)(GLuint buffer, GLintptr offset, GLsizeiptr size, void *data); - GLAPI PFNGLGETNAMEDBUFFERSUBDATAPROC glad_glGetNamedBufferSubData; -#define glGetNamedBufferSubData glad_glGetNamedBufferSubData - typedef void(APIENTRYP PFNGLCREATEFRAMEBUFFERSPROC)(GLsizei n, GLuint *framebuffers); - GLAPI PFNGLCREATEFRAMEBUFFERSPROC glad_glCreateFramebuffers; -#define glCreateFramebuffers glad_glCreateFramebuffers - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERRENDERBUFFERPROC)(GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); - GLAPI PFNGLNAMEDFRAMEBUFFERRENDERBUFFERPROC glad_glNamedFramebufferRenderbuffer; -#define glNamedFramebufferRenderbuffer glad_glNamedFramebufferRenderbuffer - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERPARAMETERIPROC)(GLuint framebuffer, GLenum pname, GLint param); - GLAPI PFNGLNAMEDFRAMEBUFFERPARAMETERIPROC glad_glNamedFramebufferParameteri; -#define glNamedFramebufferParameteri glad_glNamedFramebufferParameteri - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTUREPROC)(GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); - GLAPI PFNGLNAMEDFRAMEBUFFERTEXTUREPROC glad_glNamedFramebufferTexture; -#define glNamedFramebufferTexture glad_glNamedFramebufferTexture - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERTEXTURELAYERPROC)(GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); - GLAPI PFNGLNAMEDFRAMEBUFFERTEXTURELAYERPROC glad_glNamedFramebufferTextureLayer; -#define glNamedFramebufferTextureLayer glad_glNamedFramebufferTextureLayer - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERDRAWBUFFERPROC)(GLuint framebuffer, GLenum buf); - GLAPI PFNGLNAMEDFRAMEBUFFERDRAWBUFFERPROC glad_glNamedFramebufferDrawBuffer; -#define glNamedFramebufferDrawBuffer glad_glNamedFramebufferDrawBuffer - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERDRAWBUFFERSPROC)(GLuint framebuffer, GLsizei n, const GLenum *bufs); - GLAPI PFNGLNAMEDFRAMEBUFFERDRAWBUFFERSPROC glad_glNamedFramebufferDrawBuffers; -#define glNamedFramebufferDrawBuffers glad_glNamedFramebufferDrawBuffers - typedef void(APIENTRYP PFNGLNAMEDFRAMEBUFFERREADBUFFERPROC)(GLuint framebuffer, GLenum src); - GLAPI PFNGLNAMEDFRAMEBUFFERREADBUFFERPROC glad_glNamedFramebufferReadBuffer; -#define glNamedFramebufferReadBuffer glad_glNamedFramebufferReadBuffer - typedef void(APIENTRYP PFNGLINVALIDATENAMEDFRAMEBUFFERDATAPROC)(GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments); - GLAPI PFNGLINVALIDATENAMEDFRAMEBUFFERDATAPROC glad_glInvalidateNamedFramebufferData; -#define glInvalidateNamedFramebufferData glad_glInvalidateNamedFramebufferData - typedef void(APIENTRYP PFNGLINVALIDATENAMEDFRAMEBUFFERSUBDATAPROC)(GLuint framebuffer, GLsizei numAttachments, const GLenum *attachments, GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLINVALIDATENAMEDFRAMEBUFFERSUBDATAPROC glad_glInvalidateNamedFramebufferSubData; -#define glInvalidateNamedFramebufferSubData glad_glInvalidateNamedFramebufferSubData - typedef void(APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERIVPROC)(GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLint *value); - GLAPI PFNGLCLEARNAMEDFRAMEBUFFERIVPROC glad_glClearNamedFramebufferiv; -#define glClearNamedFramebufferiv glad_glClearNamedFramebufferiv - typedef void(APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERUIVPROC)(GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLuint *value); - GLAPI PFNGLCLEARNAMEDFRAMEBUFFERUIVPROC glad_glClearNamedFramebufferuiv; -#define glClearNamedFramebufferuiv glad_glClearNamedFramebufferuiv - typedef void(APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERFVPROC)(GLuint framebuffer, GLenum buffer, GLint drawbuffer, const GLfloat *value); - GLAPI PFNGLCLEARNAMEDFRAMEBUFFERFVPROC glad_glClearNamedFramebufferfv; -#define glClearNamedFramebufferfv glad_glClearNamedFramebufferfv - typedef void(APIENTRYP PFNGLCLEARNAMEDFRAMEBUFFERFIPROC)(GLuint framebuffer, GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil); - GLAPI PFNGLCLEARNAMEDFRAMEBUFFERFIPROC glad_glClearNamedFramebufferfi; -#define glClearNamedFramebufferfi glad_glClearNamedFramebufferfi - typedef void(APIENTRYP PFNGLBLITNAMEDFRAMEBUFFERPROC)(GLuint readFramebuffer, GLuint drawFramebuffer, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); - GLAPI PFNGLBLITNAMEDFRAMEBUFFERPROC glad_glBlitNamedFramebuffer; -#define glBlitNamedFramebuffer glad_glBlitNamedFramebuffer - typedef GLenum(APIENTRYP PFNGLCHECKNAMEDFRAMEBUFFERSTATUSPROC)(GLuint framebuffer, GLenum target); - GLAPI PFNGLCHECKNAMEDFRAMEBUFFERSTATUSPROC glad_glCheckNamedFramebufferStatus; -#define glCheckNamedFramebufferStatus glad_glCheckNamedFramebufferStatus - typedef void(APIENTRYP PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVPROC)(GLuint framebuffer, GLenum pname, GLint *param); - GLAPI PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVPROC glad_glGetNamedFramebufferParameteriv; -#define glGetNamedFramebufferParameteriv glad_glGetNamedFramebufferParameteriv - typedef void(APIENTRYP PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVPROC)(GLuint framebuffer, GLenum attachment, GLenum pname, GLint *params); - GLAPI PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVPROC glad_glGetNamedFramebufferAttachmentParameteriv; -#define glGetNamedFramebufferAttachmentParameteriv glad_glGetNamedFramebufferAttachmentParameteriv - typedef void(APIENTRYP PFNGLCREATERENDERBUFFERSPROC)(GLsizei n, GLuint *renderbuffers); - GLAPI PFNGLCREATERENDERBUFFERSPROC glad_glCreateRenderbuffers; -#define glCreateRenderbuffers glad_glCreateRenderbuffers - typedef void(APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEPROC)(GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); - GLAPI PFNGLNAMEDRENDERBUFFERSTORAGEPROC glad_glNamedRenderbufferStorage; -#define glNamedRenderbufferStorage glad_glNamedRenderbufferStorage - typedef void(APIENTRYP PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEPROC)(GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); - GLAPI PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEPROC glad_glNamedRenderbufferStorageMultisample; -#define glNamedRenderbufferStorageMultisample glad_glNamedRenderbufferStorageMultisample - typedef void(APIENTRYP PFNGLGETNAMEDRENDERBUFFERPARAMETERIVPROC)(GLuint renderbuffer, GLenum pname, GLint *params); - GLAPI PFNGLGETNAMEDRENDERBUFFERPARAMETERIVPROC glad_glGetNamedRenderbufferParameteriv; -#define glGetNamedRenderbufferParameteriv glad_glGetNamedRenderbufferParameteriv - typedef void(APIENTRYP PFNGLCREATETEXTURESPROC)(GLenum target, GLsizei n, GLuint *textures); - GLAPI PFNGLCREATETEXTURESPROC glad_glCreateTextures; -#define glCreateTextures glad_glCreateTextures - typedef void(APIENTRYP PFNGLTEXTUREBUFFERPROC)(GLuint texture, GLenum internalformat, GLuint buffer); - GLAPI PFNGLTEXTUREBUFFERPROC glad_glTextureBuffer; -#define glTextureBuffer glad_glTextureBuffer - typedef void(APIENTRYP PFNGLTEXTUREBUFFERRANGEPROC)(GLuint texture, GLenum internalformat, GLuint buffer, GLintptr offset, GLsizeiptr size); - GLAPI PFNGLTEXTUREBUFFERRANGEPROC glad_glTextureBufferRange; -#define glTextureBufferRange glad_glTextureBufferRange - typedef void(APIENTRYP PFNGLTEXTURESTORAGE1DPROC)(GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width); - GLAPI PFNGLTEXTURESTORAGE1DPROC glad_glTextureStorage1D; -#define glTextureStorage1D glad_glTextureStorage1D - typedef void(APIENTRYP PFNGLTEXTURESTORAGE2DPROC)(GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height); - GLAPI PFNGLTEXTURESTORAGE2DPROC glad_glTextureStorage2D; -#define glTextureStorage2D glad_glTextureStorage2D - typedef void(APIENTRYP PFNGLTEXTURESTORAGE3DPROC)(GLuint texture, GLsizei levels, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth); - GLAPI PFNGLTEXTURESTORAGE3DPROC glad_glTextureStorage3D; -#define glTextureStorage3D glad_glTextureStorage3D - typedef void(APIENTRYP PFNGLTEXTURESTORAGE2DMULTISAMPLEPROC)(GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); - GLAPI PFNGLTEXTURESTORAGE2DMULTISAMPLEPROC glad_glTextureStorage2DMultisample; -#define glTextureStorage2DMultisample glad_glTextureStorage2DMultisample - typedef void(APIENTRYP PFNGLTEXTURESTORAGE3DMULTISAMPLEPROC)(GLuint texture, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); - GLAPI PFNGLTEXTURESTORAGE3DMULTISAMPLEPROC glad_glTextureStorage3DMultisample; -#define glTextureStorage3DMultisample glad_glTextureStorage3DMultisample - typedef void(APIENTRYP PFNGLTEXTURESUBIMAGE1DPROC)(GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXTURESUBIMAGE1DPROC glad_glTextureSubImage1D; -#define glTextureSubImage1D glad_glTextureSubImage1D - typedef void(APIENTRYP PFNGLTEXTURESUBIMAGE2DPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXTURESUBIMAGE2DPROC glad_glTextureSubImage2D; -#define glTextureSubImage2D glad_glTextureSubImage2D - typedef void(APIENTRYP PFNGLTEXTURESUBIMAGE3DPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels); - GLAPI PFNGLTEXTURESUBIMAGE3DPROC glad_glTextureSubImage3D; -#define glTextureSubImage3D glad_glTextureSubImage3D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE1DPROC)(GLuint texture, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXTURESUBIMAGE1DPROC glad_glCompressedTextureSubImage1D; -#define glCompressedTextureSubImage1D glad_glCompressedTextureSubImage1D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE2DPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXTURESUBIMAGE2DPROC glad_glCompressedTextureSubImage2D; -#define glCompressedTextureSubImage2D glad_glCompressedTextureSubImage2D - typedef void(APIENTRYP PFNGLCOMPRESSEDTEXTURESUBIMAGE3DPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data); - GLAPI PFNGLCOMPRESSEDTEXTURESUBIMAGE3DPROC glad_glCompressedTextureSubImage3D; -#define glCompressedTextureSubImage3D glad_glCompressedTextureSubImage3D - typedef void(APIENTRYP PFNGLCOPYTEXTURESUBIMAGE1DPROC)(GLuint texture, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); - GLAPI PFNGLCOPYTEXTURESUBIMAGE1DPROC glad_glCopyTextureSubImage1D; -#define glCopyTextureSubImage1D glad_glCopyTextureSubImage1D - typedef void(APIENTRYP PFNGLCOPYTEXTURESUBIMAGE2DPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLCOPYTEXTURESUBIMAGE2DPROC glad_glCopyTextureSubImage2D; -#define glCopyTextureSubImage2D glad_glCopyTextureSubImage2D - typedef void(APIENTRYP PFNGLCOPYTEXTURESUBIMAGE3DPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); - GLAPI PFNGLCOPYTEXTURESUBIMAGE3DPROC glad_glCopyTextureSubImage3D; -#define glCopyTextureSubImage3D glad_glCopyTextureSubImage3D - typedef void(APIENTRYP PFNGLTEXTUREPARAMETERFPROC)(GLuint texture, GLenum pname, GLfloat param); - GLAPI PFNGLTEXTUREPARAMETERFPROC glad_glTextureParameterf; -#define glTextureParameterf glad_glTextureParameterf - typedef void(APIENTRYP PFNGLTEXTUREPARAMETERFVPROC)(GLuint texture, GLenum pname, const GLfloat *param); - GLAPI PFNGLTEXTUREPARAMETERFVPROC glad_glTextureParameterfv; -#define glTextureParameterfv glad_glTextureParameterfv - typedef void(APIENTRYP PFNGLTEXTUREPARAMETERIPROC)(GLuint texture, GLenum pname, GLint param); - GLAPI PFNGLTEXTUREPARAMETERIPROC glad_glTextureParameteri; -#define glTextureParameteri glad_glTextureParameteri - typedef void(APIENTRYP PFNGLTEXTUREPARAMETERIIVPROC)(GLuint texture, GLenum pname, const GLint *params); - GLAPI PFNGLTEXTUREPARAMETERIIVPROC glad_glTextureParameterIiv; -#define glTextureParameterIiv glad_glTextureParameterIiv - typedef void(APIENTRYP PFNGLTEXTUREPARAMETERIUIVPROC)(GLuint texture, GLenum pname, const GLuint *params); - GLAPI PFNGLTEXTUREPARAMETERIUIVPROC glad_glTextureParameterIuiv; -#define glTextureParameterIuiv glad_glTextureParameterIuiv - typedef void(APIENTRYP PFNGLTEXTUREPARAMETERIVPROC)(GLuint texture, GLenum pname, const GLint *param); - GLAPI PFNGLTEXTUREPARAMETERIVPROC glad_glTextureParameteriv; -#define glTextureParameteriv glad_glTextureParameteriv - typedef void(APIENTRYP PFNGLGENERATETEXTUREMIPMAPPROC)(GLuint texture); - GLAPI PFNGLGENERATETEXTUREMIPMAPPROC glad_glGenerateTextureMipmap; -#define glGenerateTextureMipmap glad_glGenerateTextureMipmap - typedef void(APIENTRYP PFNGLBINDTEXTUREUNITPROC)(GLuint unit, GLuint texture); - GLAPI PFNGLBINDTEXTUREUNITPROC glad_glBindTextureUnit; -#define glBindTextureUnit glad_glBindTextureUnit - typedef void(APIENTRYP PFNGLGETTEXTUREIMAGEPROC)(GLuint texture, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); - GLAPI PFNGLGETTEXTUREIMAGEPROC glad_glGetTextureImage; -#define glGetTextureImage glad_glGetTextureImage - typedef void(APIENTRYP PFNGLGETCOMPRESSEDTEXTUREIMAGEPROC)(GLuint texture, GLint level, GLsizei bufSize, void *pixels); - GLAPI PFNGLGETCOMPRESSEDTEXTUREIMAGEPROC glad_glGetCompressedTextureImage; -#define glGetCompressedTextureImage glad_glGetCompressedTextureImage - typedef void(APIENTRYP PFNGLGETTEXTURELEVELPARAMETERFVPROC)(GLuint texture, GLint level, GLenum pname, GLfloat *params); - GLAPI PFNGLGETTEXTURELEVELPARAMETERFVPROC glad_glGetTextureLevelParameterfv; -#define glGetTextureLevelParameterfv glad_glGetTextureLevelParameterfv - typedef void(APIENTRYP PFNGLGETTEXTURELEVELPARAMETERIVPROC)(GLuint texture, GLint level, GLenum pname, GLint *params); - GLAPI PFNGLGETTEXTURELEVELPARAMETERIVPROC glad_glGetTextureLevelParameteriv; -#define glGetTextureLevelParameteriv glad_glGetTextureLevelParameteriv - typedef void(APIENTRYP PFNGLGETTEXTUREPARAMETERFVPROC)(GLuint texture, GLenum pname, GLfloat *params); - GLAPI PFNGLGETTEXTUREPARAMETERFVPROC glad_glGetTextureParameterfv; -#define glGetTextureParameterfv glad_glGetTextureParameterfv - typedef void(APIENTRYP PFNGLGETTEXTUREPARAMETERIIVPROC)(GLuint texture, GLenum pname, GLint *params); - GLAPI PFNGLGETTEXTUREPARAMETERIIVPROC glad_glGetTextureParameterIiv; -#define glGetTextureParameterIiv glad_glGetTextureParameterIiv - typedef void(APIENTRYP PFNGLGETTEXTUREPARAMETERIUIVPROC)(GLuint texture, GLenum pname, GLuint *params); - GLAPI PFNGLGETTEXTUREPARAMETERIUIVPROC glad_glGetTextureParameterIuiv; -#define glGetTextureParameterIuiv glad_glGetTextureParameterIuiv - typedef void(APIENTRYP PFNGLGETTEXTUREPARAMETERIVPROC)(GLuint texture, GLenum pname, GLint *params); - GLAPI PFNGLGETTEXTUREPARAMETERIVPROC glad_glGetTextureParameteriv; -#define glGetTextureParameteriv glad_glGetTextureParameteriv - typedef void(APIENTRYP PFNGLCREATEVERTEXARRAYSPROC)(GLsizei n, GLuint *arrays); - GLAPI PFNGLCREATEVERTEXARRAYSPROC glad_glCreateVertexArrays; -#define glCreateVertexArrays glad_glCreateVertexArrays - typedef void(APIENTRYP PFNGLDISABLEVERTEXARRAYATTRIBPROC)(GLuint vaobj, GLuint index); - GLAPI PFNGLDISABLEVERTEXARRAYATTRIBPROC glad_glDisableVertexArrayAttrib; -#define glDisableVertexArrayAttrib glad_glDisableVertexArrayAttrib - typedef void(APIENTRYP PFNGLENABLEVERTEXARRAYATTRIBPROC)(GLuint vaobj, GLuint index); - GLAPI PFNGLENABLEVERTEXARRAYATTRIBPROC glad_glEnableVertexArrayAttrib; -#define glEnableVertexArrayAttrib glad_glEnableVertexArrayAttrib - typedef void(APIENTRYP PFNGLVERTEXARRAYELEMENTBUFFERPROC)(GLuint vaobj, GLuint buffer); - GLAPI PFNGLVERTEXARRAYELEMENTBUFFERPROC glad_glVertexArrayElementBuffer; -#define glVertexArrayElementBuffer glad_glVertexArrayElementBuffer - typedef void(APIENTRYP PFNGLVERTEXARRAYVERTEXBUFFERPROC)(GLuint vaobj, GLuint bindingindex, GLuint buffer, GLintptr offset, GLsizei stride); - GLAPI PFNGLVERTEXARRAYVERTEXBUFFERPROC glad_glVertexArrayVertexBuffer; -#define glVertexArrayVertexBuffer glad_glVertexArrayVertexBuffer - typedef void(APIENTRYP PFNGLVERTEXARRAYVERTEXBUFFERSPROC)(GLuint vaobj, GLuint first, GLsizei count, const GLuint *buffers, const GLintptr *offsets, const GLsizei *strides); - GLAPI PFNGLVERTEXARRAYVERTEXBUFFERSPROC glad_glVertexArrayVertexBuffers; -#define glVertexArrayVertexBuffers glad_glVertexArrayVertexBuffers - typedef void(APIENTRYP PFNGLVERTEXARRAYATTRIBBINDINGPROC)(GLuint vaobj, GLuint attribindex, GLuint bindingindex); - GLAPI PFNGLVERTEXARRAYATTRIBBINDINGPROC glad_glVertexArrayAttribBinding; -#define glVertexArrayAttribBinding glad_glVertexArrayAttribBinding - typedef void(APIENTRYP PFNGLVERTEXARRAYATTRIBFORMATPROC)(GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLboolean normalized, GLuint relativeoffset); - GLAPI PFNGLVERTEXARRAYATTRIBFORMATPROC glad_glVertexArrayAttribFormat; -#define glVertexArrayAttribFormat glad_glVertexArrayAttribFormat - typedef void(APIENTRYP PFNGLVERTEXARRAYATTRIBIFORMATPROC)(GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); - GLAPI PFNGLVERTEXARRAYATTRIBIFORMATPROC glad_glVertexArrayAttribIFormat; -#define glVertexArrayAttribIFormat glad_glVertexArrayAttribIFormat - typedef void(APIENTRYP PFNGLVERTEXARRAYATTRIBLFORMATPROC)(GLuint vaobj, GLuint attribindex, GLint size, GLenum type, GLuint relativeoffset); - GLAPI PFNGLVERTEXARRAYATTRIBLFORMATPROC glad_glVertexArrayAttribLFormat; -#define glVertexArrayAttribLFormat glad_glVertexArrayAttribLFormat - typedef void(APIENTRYP PFNGLVERTEXARRAYBINDINGDIVISORPROC)(GLuint vaobj, GLuint bindingindex, GLuint divisor); - GLAPI PFNGLVERTEXARRAYBINDINGDIVISORPROC glad_glVertexArrayBindingDivisor; -#define glVertexArrayBindingDivisor glad_glVertexArrayBindingDivisor - typedef void(APIENTRYP PFNGLGETVERTEXARRAYIVPROC)(GLuint vaobj, GLenum pname, GLint *param); - GLAPI PFNGLGETVERTEXARRAYIVPROC glad_glGetVertexArrayiv; -#define glGetVertexArrayiv glad_glGetVertexArrayiv - typedef void(APIENTRYP PFNGLGETVERTEXARRAYINDEXEDIVPROC)(GLuint vaobj, GLuint index, GLenum pname, GLint *param); - GLAPI PFNGLGETVERTEXARRAYINDEXEDIVPROC glad_glGetVertexArrayIndexediv; -#define glGetVertexArrayIndexediv glad_glGetVertexArrayIndexediv - typedef void(APIENTRYP PFNGLGETVERTEXARRAYINDEXED64IVPROC)(GLuint vaobj, GLuint index, GLenum pname, GLint64 *param); - GLAPI PFNGLGETVERTEXARRAYINDEXED64IVPROC glad_glGetVertexArrayIndexed64iv; -#define glGetVertexArrayIndexed64iv glad_glGetVertexArrayIndexed64iv - typedef void(APIENTRYP PFNGLCREATESAMPLERSPROC)(GLsizei n, GLuint *samplers); - GLAPI PFNGLCREATESAMPLERSPROC glad_glCreateSamplers; -#define glCreateSamplers glad_glCreateSamplers - typedef void(APIENTRYP PFNGLCREATEPROGRAMPIPELINESPROC)(GLsizei n, GLuint *pipelines); - GLAPI PFNGLCREATEPROGRAMPIPELINESPROC glad_glCreateProgramPipelines; -#define glCreateProgramPipelines glad_glCreateProgramPipelines - typedef void(APIENTRYP PFNGLCREATEQUERIESPROC)(GLenum target, GLsizei n, GLuint *ids); - GLAPI PFNGLCREATEQUERIESPROC glad_glCreateQueries; -#define glCreateQueries glad_glCreateQueries - typedef void(APIENTRYP PFNGLGETQUERYBUFFEROBJECTI64VPROC)(GLuint id, GLuint buffer, GLenum pname, GLintptr offset); - GLAPI PFNGLGETQUERYBUFFEROBJECTI64VPROC glad_glGetQueryBufferObjecti64v; -#define glGetQueryBufferObjecti64v glad_glGetQueryBufferObjecti64v - typedef void(APIENTRYP PFNGLGETQUERYBUFFEROBJECTIVPROC)(GLuint id, GLuint buffer, GLenum pname, GLintptr offset); - GLAPI PFNGLGETQUERYBUFFEROBJECTIVPROC glad_glGetQueryBufferObjectiv; -#define glGetQueryBufferObjectiv glad_glGetQueryBufferObjectiv - typedef void(APIENTRYP PFNGLGETQUERYBUFFEROBJECTUI64VPROC)(GLuint id, GLuint buffer, GLenum pname, GLintptr offset); - GLAPI PFNGLGETQUERYBUFFEROBJECTUI64VPROC glad_glGetQueryBufferObjectui64v; -#define glGetQueryBufferObjectui64v glad_glGetQueryBufferObjectui64v - typedef void(APIENTRYP PFNGLGETQUERYBUFFEROBJECTUIVPROC)(GLuint id, GLuint buffer, GLenum pname, GLintptr offset); - GLAPI PFNGLGETQUERYBUFFEROBJECTUIVPROC glad_glGetQueryBufferObjectuiv; -#define glGetQueryBufferObjectuiv glad_glGetQueryBufferObjectuiv - typedef void(APIENTRYP PFNGLMEMORYBARRIERBYREGIONPROC)(GLbitfield barriers); - GLAPI PFNGLMEMORYBARRIERBYREGIONPROC glad_glMemoryBarrierByRegion; -#define glMemoryBarrierByRegion glad_glMemoryBarrierByRegion - typedef void(APIENTRYP PFNGLGETTEXTURESUBIMAGEPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, GLsizei bufSize, void *pixels); - GLAPI PFNGLGETTEXTURESUBIMAGEPROC glad_glGetTextureSubImage; -#define glGetTextureSubImage glad_glGetTextureSubImage - typedef void(APIENTRYP PFNGLGETCOMPRESSEDTEXTURESUBIMAGEPROC)(GLuint texture, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei bufSize, void *pixels); - GLAPI PFNGLGETCOMPRESSEDTEXTURESUBIMAGEPROC glad_glGetCompressedTextureSubImage; -#define glGetCompressedTextureSubImage glad_glGetCompressedTextureSubImage - typedef GLenum(APIENTRYP PFNGLGETGRAPHICSRESETSTATUSPROC)(void); - GLAPI PFNGLGETGRAPHICSRESETSTATUSPROC glad_glGetGraphicsResetStatus; -#define glGetGraphicsResetStatus glad_glGetGraphicsResetStatus - typedef void(APIENTRYP PFNGLGETNCOMPRESSEDTEXIMAGEPROC)(GLenum target, GLint lod, GLsizei bufSize, void *pixels); - GLAPI PFNGLGETNCOMPRESSEDTEXIMAGEPROC glad_glGetnCompressedTexImage; -#define glGetnCompressedTexImage glad_glGetnCompressedTexImage - typedef void(APIENTRYP PFNGLGETNTEXIMAGEPROC)(GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void *pixels); - GLAPI PFNGLGETNTEXIMAGEPROC glad_glGetnTexImage; -#define glGetnTexImage glad_glGetnTexImage - typedef void(APIENTRYP PFNGLGETNUNIFORMDVPROC)(GLuint program, GLint location, GLsizei bufSize, GLdouble *params); - GLAPI PFNGLGETNUNIFORMDVPROC glad_glGetnUniformdv; -#define glGetnUniformdv glad_glGetnUniformdv - typedef void(APIENTRYP PFNGLGETNUNIFORMFVPROC)(GLuint program, GLint location, GLsizei bufSize, GLfloat *params); - GLAPI PFNGLGETNUNIFORMFVPROC glad_glGetnUniformfv; -#define glGetnUniformfv glad_glGetnUniformfv - typedef void(APIENTRYP PFNGLGETNUNIFORMIVPROC)(GLuint program, GLint location, GLsizei bufSize, GLint *params); - GLAPI PFNGLGETNUNIFORMIVPROC glad_glGetnUniformiv; -#define glGetnUniformiv glad_glGetnUniformiv - typedef void(APIENTRYP PFNGLGETNUNIFORMUIVPROC)(GLuint program, GLint location, GLsizei bufSize, GLuint *params); - GLAPI PFNGLGETNUNIFORMUIVPROC glad_glGetnUniformuiv; -#define glGetnUniformuiv glad_glGetnUniformuiv - typedef void(APIENTRYP PFNGLREADNPIXELSPROC)(GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void *data); - GLAPI PFNGLREADNPIXELSPROC glad_glReadnPixels; -#define glReadnPixels glad_glReadnPixels - typedef void(APIENTRYP PFNGLGETNMAPDVPROC)(GLenum target, GLenum query, GLsizei bufSize, GLdouble *v); - GLAPI PFNGLGETNMAPDVPROC glad_glGetnMapdv; -#define glGetnMapdv glad_glGetnMapdv - typedef void(APIENTRYP PFNGLGETNMAPFVPROC)(GLenum target, GLenum query, GLsizei bufSize, GLfloat *v); - GLAPI PFNGLGETNMAPFVPROC glad_glGetnMapfv; -#define glGetnMapfv glad_glGetnMapfv - typedef void(APIENTRYP PFNGLGETNMAPIVPROC)(GLenum target, GLenum query, GLsizei bufSize, GLint *v); - GLAPI PFNGLGETNMAPIVPROC glad_glGetnMapiv; -#define glGetnMapiv glad_glGetnMapiv - typedef void(APIENTRYP PFNGLGETNPIXELMAPFVPROC)(GLenum map, GLsizei bufSize, GLfloat *values); - GLAPI PFNGLGETNPIXELMAPFVPROC glad_glGetnPixelMapfv; -#define glGetnPixelMapfv glad_glGetnPixelMapfv - typedef void(APIENTRYP PFNGLGETNPIXELMAPUIVPROC)(GLenum map, GLsizei bufSize, GLuint *values); - GLAPI PFNGLGETNPIXELMAPUIVPROC glad_glGetnPixelMapuiv; -#define glGetnPixelMapuiv glad_glGetnPixelMapuiv - typedef void(APIENTRYP PFNGLGETNPIXELMAPUSVPROC)(GLenum map, GLsizei bufSize, GLushort *values); - GLAPI PFNGLGETNPIXELMAPUSVPROC glad_glGetnPixelMapusv; -#define glGetnPixelMapusv glad_glGetnPixelMapusv - typedef void(APIENTRYP PFNGLGETNPOLYGONSTIPPLEPROC)(GLsizei bufSize, GLubyte *pattern); - GLAPI PFNGLGETNPOLYGONSTIPPLEPROC glad_glGetnPolygonStipple; -#define glGetnPolygonStipple glad_glGetnPolygonStipple - typedef void(APIENTRYP PFNGLGETNCOLORTABLEPROC)(GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *table); - GLAPI PFNGLGETNCOLORTABLEPROC glad_glGetnColorTable; -#define glGetnColorTable glad_glGetnColorTable - typedef void(APIENTRYP PFNGLGETNCONVOLUTIONFILTERPROC)(GLenum target, GLenum format, GLenum type, GLsizei bufSize, void *image); - GLAPI PFNGLGETNCONVOLUTIONFILTERPROC glad_glGetnConvolutionFilter; -#define glGetnConvolutionFilter glad_glGetnConvolutionFilter - typedef void(APIENTRYP PFNGLGETNSEPARABLEFILTERPROC)(GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void *row, GLsizei columnBufSize, void *column, void *span); - GLAPI PFNGLGETNSEPARABLEFILTERPROC glad_glGetnSeparableFilter; -#define glGetnSeparableFilter glad_glGetnSeparableFilter - typedef void(APIENTRYP PFNGLGETNHISTOGRAMPROC)(GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); - GLAPI PFNGLGETNHISTOGRAMPROC glad_glGetnHistogram; -#define glGetnHistogram glad_glGetnHistogram - typedef void(APIENTRYP PFNGLGETNMINMAXPROC)(GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void *values); - GLAPI PFNGLGETNMINMAXPROC glad_glGetnMinmax; -#define glGetnMinmax glad_glGetnMinmax - typedef void(APIENTRYP PFNGLTEXTUREBARRIERPROC)(void); - GLAPI PFNGLTEXTUREBARRIERPROC glad_glTextureBarrier; -#define glTextureBarrier glad_glTextureBarrier -#endif -#ifndef GL_VERSION_4_6 -#define GL_VERSION_4_6 1 - GLAPI int GLAD_GL_VERSION_4_6; - typedef void(APIENTRYP PFNGLSPECIALIZESHADERPROC)(GLuint shader, const GLchar *pEntryPoint, GLuint numSpecializationConstants, const GLuint *pConstantIndex, const GLuint *pConstantValue); - GLAPI PFNGLSPECIALIZESHADERPROC glad_glSpecializeShader; -#define glSpecializeShader glad_glSpecializeShader - typedef void(APIENTRYP PFNGLMULTIDRAWARRAYSINDIRECTCOUNTPROC)(GLenum mode, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); - GLAPI PFNGLMULTIDRAWARRAYSINDIRECTCOUNTPROC glad_glMultiDrawArraysIndirectCount; -#define glMultiDrawArraysIndirectCount glad_glMultiDrawArraysIndirectCount - typedef void(APIENTRYP PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTPROC)(GLenum mode, GLenum type, const void *indirect, GLintptr drawcount, GLsizei maxdrawcount, GLsizei stride); - GLAPI PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTPROC glad_glMultiDrawElementsIndirectCount; -#define glMultiDrawElementsIndirectCount glad_glMultiDrawElementsIndirectCount - typedef void(APIENTRYP PFNGLPOLYGONOFFSETCLAMPPROC)(GLfloat factor, GLfloat units, GLfloat clamp); - GLAPI PFNGLPOLYGONOFFSETCLAMPPROC glad_glPolygonOffsetClamp; -#define glPolygonOffsetClamp glad_glPolygonOffsetClamp -#endif - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/robot/ros_ws/src/local/planners/droan_gl/launch/droan_gl.launch.xml b/robot/ros_ws/src/local/planners/droan_gl/launch/droan_gl.launch.xml deleted file mode 100644 index e37ad5dab..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/launch/droan_gl.launch.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robot/ros_ws/src/local/planners/droan_gl/package.xml b/robot/ros_ws/src/local/planners/droan_gl/package.xml deleted file mode 100644 index 6ac11201b..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/package.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - - droan_gl - 0.0.0 - GPU-accelerated DROAN local planner that performs true-sphere disparity-space obstacle expansion and collision checking with OpenGL shaders. - Andrew Jong - BSD-3-Clause-Clear - - ament_cmake - - rclcpp - rclcpp_action - task_msgs - sensor_msgs - stereo_msgs - nav_msgs - visualization_msgs - tf2 - tf2_ros - tf2_geometry_msgs - cv_bridge - ament_index_cpp - pcl_conversions - airstack_common - airstack_msgs - trajectory_library - - - assimp - opengl - libglfw3-dev - libglm-dev - - ament_lint_auto - ament_lint_common - - - ament_cmake - - \ No newline at end of file diff --git a/robot/ros_ws/src/local/planners/droan_gl/scripts/angle.py b/robot/ros_ws/src/local/planners/droan_gl/scripts/angle.py deleted file mode 100755 index af25208e8..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/scripts/angle.py +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/python3 -import numpy as np -import matplotlib.pyplot as plt - -c = np.array([5.0, 1.0]) -ps = [] -r = 3.0 - -for a in np.arange(-np.pi / 2.0, np.pi / 2.0 + 0.01, np.pi / 8.0): - p = np.array([c[0] + r * np.cos(a), c[1] + r * np.sin(a)]) - ps.append(p) - - angle = (np.arctan((p[1] - c[1]) / (p[0] - c[0])) + np.pi / 2.0) / np.pi * 1000.0 - new_angle = angle / 1000.0 * np.pi - np.pi / 2.0 - # point = np.array([c[0] + r*np.cos(new_angle), c[1] + r*np.sin(new_angle)]) - center = np.array([p[0] - r * np.cos(new_angle), p[1] - r * np.sin(new_angle)]) - - print(a, angle, new_angle, c, center) - - -ps = np.array(ps) - -plt.axis("equal") -plt.plot(c[0], c[1], "o") -plt.plot(ps[:, 0], ps[:, 1], "o") -plt.show() diff --git a/robot/ros_ws/src/local/planners/droan_gl/scripts/scale_camera_info.py b/robot/ros_ws/src/local/planners/droan_gl/scripts/scale_camera_info.py deleted file mode 100755 index 5e07ded63..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/scripts/scale_camera_info.py +++ /dev/null @@ -1,65 +0,0 @@ -#!/usr/bin/python3 -import rclpy -from rclpy.node import Node -from sensor_msgs.msg import CameraInfo -import copy - - -class CameraInfoScaler(Node): - def __init__(self): - super().__init__("camera_info_scaler") - - # Parameters - self.declare_parameter("input_topic", "/camera_info") - self.declare_parameter("output_topic", "/camera_info_scaled") - self.declare_parameter("scale_factor", 1.0) - - input_topic = ( - self.get_parameter("input_topic").get_parameter_value().string_value - ) - output_topic = ( - self.get_parameter("output_topic").get_parameter_value().string_value - ) - self.scale_factor = ( - self.get_parameter("scale_factor").get_parameter_value().double_value - ) - - # Publisher and Subscriber - self.pub_ = self.create_publisher(CameraInfo, output_topic, 10) - self.sub_ = self.create_subscription(CameraInfo, input_topic, self.callback, 10) - - self.get_logger().info( - f"Scaling fx, fy by {self.scale_factor} from '{input_topic}' → '{output_topic}'" - ) - - def callback(self, msg: CameraInfo): - scaled = copy.deepcopy(msg) # CameraInfo() - # scaled.header = msg.header - # scaled.height = msg.height - # scaled.width = msg.width - # scaled.distortion_model = msg.distortion_model - # scaled.d = list(msg.d) - - # Copy and modify intrinsic matrices - scaled.k = list(msg.k) - scaled.k[0] *= self.scale_factor # fx - scaled.k[4] *= self.scale_factor # fy - - scaled.r = list(msg.r) - scaled.p = list(msg.p) - scaled.p[0] *= self.scale_factor # fx - scaled.p[5] *= self.scale_factor # fy - - self.pub_.publish(scaled) - - -def main(args=None): - rclpy.init(args=args) - node = CameraInfoScaler() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere.py b/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere.py deleted file mode 100755 index ac4afee1c..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere.py +++ /dev/null @@ -1,185 +0,0 @@ -#!/usr/bin/python3 -import numpy as np -import matplotlib.pyplot as plt - - -def set_axes_equal(ax): - """Set 3D plot axes to equal scale so spheres look like spheres.""" - x_limits = ax.get_xlim3d() - y_limits = ax.get_ylim3d() - z_limits = ax.get_zlim3d() - - x_range = abs(x_limits[1] - x_limits[0]) - y_range = abs(y_limits[1] - y_limits[0]) - z_range = abs(z_limits[1] - z_limits[0]) - - max_range = max([x_range, y_range, z_range]) / 2.0 - - mid_x = np.mean(x_limits) - mid_y = np.mean(y_limits) - mid_z = np.mean(z_limits) - - ax.set_xlim3d([mid_x - max_range, mid_x + max_range]) - ax.set_ylim3d([mid_y - max_range, mid_y + max_range]) - ax.set_zlim3d([mid_z - max_range, mid_z + max_range]) - - -# Image size -width = 480 -height = 270 - -# Camera parameters -cx = width / 2 # principal point x -cy = height / 2 # principal point y -fx = 233 # focal length x -fy = 233 # focal length y -baseline = 0.12 # stereo baseline in meters - - -# Create pixel coordinate grid -u = np.arange(width) -v = np.arange(height) -u, v = np.meshgrid(u, v) - -# Simulate disparity values (for example, closer in the center) -# You can replace this with a real disparity map or depth formula. -# disparity = 30 + 10 * np.exp(-((u - cx)**2 + (v - cy)**2) / (2 * (100**2))) - -c_u = cx -c_v = cy - -a_0 = (c_u - cx) / fx -a = (u - cx) / fx - -b_0 = (c_v - cy) / fy -b = (v - cy) / fy - -Zc = fx * baseline / 2.0 -Xc = a_0 * Zc -Yc = b_0 * Zc -expansion_radius = 2.0 - -A = a * a + b * b + 1.0 -B = -2.0 * Zc * (a * a_0 + b * b_0 + 1.0) -C = Zc * Zc * (a_0 * a_0 + b_0 * b_0 + 1.0) - expansion_radius * expansion_radius - -disc = B * B - 4.0 * A * C -# mask = np.where(disc > 0.) -mask = np.where(np.logical_and(disc > 0.0, v == cy)) -A = A[mask] -B = B[mask] -u = u[mask] -v = v[mask] -disc = disc[mask] -Zp = (-B - np.sqrt(disc)) / (2.0 * A) -disparity = fx * baseline / Zp - -xs = [] -ys = [] -zs = [] - -nan_disc_count = 0 -for ut in range(0, width): - v_cur = cy - a_0 = (c_u - cx) / fx - a = (ut - cx) / fx - b_0 = (c_v - cy) / fy - b = (v_cur - cy) / fy - A = a * a + b * b + 1.0 - B = -2.0 * Zc * (a * a_0 + b * b_0 + 1.0) - C = Zc * Zc * (a_0 * a_0 + b_0 * b_0 + 1.0) - expansion_radius * expansion_radius - disc = B * B - 4.0 * A * C - Zp = (-B - np.sqrt(disc)) / (2.0 * A) - disp = fx * baseline / Zp - if disc <= 0.0: - continue - print("A B C", A, B, C, "a a_0", a, a_0, "b b_0", b, b_0) - print("Zp disp", Zp, disp) - - z = fx * baseline / disp - x = (ut - cx) * z / fx - y = (v_cur - cy) * z / fy - xs.append(x) - ys.append(y) - zs.append(z) - - Xp = a * Zp - angle = np.arctan((Xp - Xc) / (Zp - Zc)) - - depth = fx * baseline / disp - Zc_cur = depth + expansion_radius * np.cos(angle) - Xc_cur = (ut - cx) * depth / fx + expansion_radius * np.sin(angle) - print(Zc, Zc_cur, Xc, Xc_cur) - - a_0 = Xc_cur / Zc_cur - uc = fx * a_0 + cx - vc = fy * b_0 + cy - - ru = fx * expansion_radius / Zc_cur - rv = fy * expansion_radius / Zc_cur - - vmin = vc - rv * np.sqrt(1.0 - ((ut - uc) ** 2 / (ru * ru))) - vmax = vc + rv * np.sqrt(1.0 - ((ut - uc) ** 2 / (ru * ru))) - print(vmin, vmax) - if vmin != vmin or vmax != vmax: - continue - - for vt in range(int(np.floor(vmin)), int(np.ceil(vmax))): - # for vt in range(0, height): - # a_0 = (c_u - cx) / fx - a = (ut - cx) / fx - b_0 = (c_v - cy) / fy - b = (vt - cy) / fy - A = a * a + b * b + 1.0 - B = -2.0 * Zc_cur * (a * a_0 + b * b_0 + 1.0) - C = ( - Zc_cur * Zc_cur * (a_0 * a_0 + b_0 * b_0 + 1.0) - - expansion_radius * expansion_radius - ) - Zp = (-B - np.sqrt(B * B - 4.0 * A * C)) / (2.0 * A) - print("disc", B * B - 4.0 * A * C, np.sqrt(B * B - 4.0 * A * C)) - if (B * B - 4.0 * A * C) < 0.0: - nan_disc_count += 1 - disp = fx * baseline / Zp - - z = fx * baseline / disp - x = (ut - cx) * z / fx - y = (vt - cy) * z / fy - # if Zc_cur == Zc_cur: - # print(a_0, a, b_0, b, A, B, C, Zp, disp, B*B - 4.*A*C ) - xs.append(x) - ys.append(y) - zs.append(z) -print("nan", nan_disc_count) - - -# Compute depth from disparity (Z = fx * baseline / disparity) -Z = fx * baseline / disparity - -# Compute 3D coordinates in camera space -X = (u - cx) * Z / fx -Y = (v - cy) * Z / fy - -# Flatten for scatter plot -X = X.flatten() -Y = Y.flatten() -Z = Z.flatten() -# X = X[np.where(disc > 0.)].flatten() -# Y = Y[np.where(disc > 0.)].flatten() -# Z = Z[np.where(disc > 0.)].flatten() - -# Subsample for performance (optional) -# sample = np.random.choice(len(X), size=20000, replace=False) -# X, Y, Z = X[sample], Y[sample], Z[sample] - -# Plot point cloud -fig = plt.figure(figsize=(8, 6)) -ax = fig.add_subplot(111, projection="3d") -sc = ax.scatter(X, Y, Z, c=Z, cmap="viridis", s=1) -sc = ax.scatter(xs, ys, zs, s=1) -ax.set_xlabel("X [m]") -ax.set_ylabel("Y [m]") -ax.set_zlabel("Z [m]") -set_axes_equal(ax) -plt.title("3D Point Cloud from Depth Calculation") -plt.show() diff --git a/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere2.py b/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere2.py deleted file mode 100755 index 6e6847b10..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere2.py +++ /dev/null @@ -1,218 +0,0 @@ -#!/usr/bin/python3 -import numpy as np -import matplotlib.pyplot as plt - - -def set_axes_equal(ax): - """Set 3D plot axes to equal scale so spheres look like spheres.""" - x_limits = ax.get_xlim3d() - y_limits = ax.get_ylim3d() - z_limits = ax.get_zlim3d() - - x_range = abs(x_limits[1] - x_limits[0]) - y_range = abs(y_limits[1] - y_limits[0]) - z_range = abs(z_limits[1] - z_limits[0]) - - max_range = max([x_range, y_range, z_range]) / 2.0 - - mid_x = np.mean(x_limits) - mid_y = np.mean(y_limits) - mid_z = np.mean(z_limits) - - ax.set_xlim3d([mid_x - max_range, mid_x + max_range]) - ax.set_ylim3d([mid_y - max_range, mid_y + max_range]) - ax.set_zlim3d([mid_z - max_range, mid_z + max_range]) - - -def set_axes_equal_so(ax): - """ - Make axes of 3D plot have equal scale so that spheres appear as spheres, - cubes as cubes, etc. - - Input - ax: a matplotlib axis, e.g., as output from plt.gca(). - """ - - x_limits = ax.get_xlim3d() - y_limits = ax.get_ylim3d() - z_limits = ax.get_zlim3d() - - x_range = abs(x_limits[1] - x_limits[0]) - x_middle = np.mean(x_limits) - y_range = abs(y_limits[1] - y_limits[0]) - y_middle = np.mean(y_limits) - z_range = abs(z_limits[1] - z_limits[0]) - z_middle = np.mean(z_limits) - - # The plot bounding box is a sphere in the sense of the infinity - # norm, hence I call half the max range the plot radius. - plot_radius = 0.5 * max([x_range, y_range, z_range]) - - ax.set_xlim3d([x_middle - plot_radius, x_middle + plot_radius]) - ax.set_ylim3d([y_middle - plot_radius, y_middle + plot_radius]) - ax.set_zlim3d([z_middle - plot_radius, z_middle + plot_radius]) - - -xs = [] -ys = [] -zs = [] - -# Image size -width = 480 -height = 270 - -# Camera parameters -cx = float(width) / 2.0 # principal point x -cy = float(height) / 2.0 # principal point y -fx = 233.82684326171875 # focal length x -fy = 233.8268585205078 # focal length y -baseline = 0.12 # stereo baseline in meters -expansion_radius = 2.0 -scale = 1000000.0 - - -def horizontal(coord_x, coord_y, center, is_fg): - center_depth = fx * baseline / center - radius = int(expansion_radius * center / baseline) - - a_0 = (coord_x - cx) / fx - b = (coord_y - cy) / fy - b_0 = (coord_y - cy) / fy - - Zc = center_depth - Xc = a_0 * Zc - - for dx in range(-radius, radius + 1): - px = coord_x + dx - py = coord_y - - if px < 0 or px >= width: - continue - - a = (px - cx) / fx - A = a * a + b * b + 1 - B = -2.0 * Zc * (a * a_0 + b * b_0 + 1) - C = Zc * Zc * (a_0 * a_0 + b_0 * b_0 + 1) - expansion_radius * expansion_radius - - sign = -1.0 - if not is_fg: - sign = 1.0 - Zp = (-B + sign * np.sqrt(B * B - 4.0 * A * C)) / (2.0 * A) - new_disp = int(scale * fx * baseline / Zp) - - Xp = a * Zp - raw_angle = np.arctan((Xp - Xc) / (Zp - Zc)) - angle = int((raw_angle + np.pi / 2.0) / np.pi * 1000.0) - new_disp = (new_disp & ~0x3FF) | (angle & 0x3FF) - - # print('h', raw_angle) - vertical(px, py, new_disp, is_fg) - - # visualization - z = fx * baseline / (float(new_disp) / scale) - x = (px - cx) * z / fx - y = (py - cy) * z / fy - xs.append(x) - ys.append(y) - zs.append(z) - - -def vertical(coord_x, coord_y, center, is_fg): - center_depth = fx * baseline / (float(center) / scale) - radius = int(expansion_radius + float(center) / scale / baseline) - a = (coord_x - cx) / fx - b_0 = (coord_y - cy) / fy - - angle = float(center & 0x3FF) / 1000.0 * np.pi - np.pi / 2.0 - # print('v', angle) - Zc = center_depth + expansion_radius * np.cos(angle) - Xc = (coord_x - cx) * center_depth / fx + expansion_radius * np.sin(angle) - if not is_fg: - Zc = center_depth - expansion_radius * np.cos(angle) - Xc = (coord_x - cx) * center_depth / fx - expansion_radius * np.sin(angle) - a_0 = Xc / Zc - - uc = fx * a_0 + cx - vc = fy * b_0 + cy - ru = fx * expansion_radius / Zc - rv = fy * expansion_radius / Zc - - ymin = int( - np.floor(vc - rv * np.sqrt(1.0 - ((coord_x - uc) * (coord_x - uc)) / (ru * ru))) - ) - ymax = int( - np.ceil(vc + rv * np.sqrt(1.0 - ((coord_x - uc) * (coord_x - uc)) / (ru * ru))) - ) - - if not is_fg: - print(ymin - ymax) - - for y in range(ymin, ymax + 1): - px = coord_x - py = y - - if py < 0 or py >= height: - continue - - b = (py - cy) / fy - A = a * a + b * b + 1 - B = -2.0 * Zc * (a * a_0 + b * b_0 + 1) - C = Zc * Zc * (a_0 * a_0 + b_0 * b_0 + 1) - expansion_radius * expansion_radius - if (B * B - 4.0 * A * C) < 0.0: - continue - - sign = -1.0 - if not is_fg: - sign = 1.0 - Zp = (-B + sign * np.sqrt(B * B - 4.0 * A * C)) / (2.0 * A) - new_disp = fx * baseline / Zp - - z = fx * baseline / new_disp - x = (px - cx) * z / fx - y = (py - cy) * z / fy - xs.append(x) - ys.append(y) - zs.append(z) - - -# coord_x = float(int(3*width/4)) -# coord_y = float(int(height/2)) -coord_x = float(int(width / 2)) -coord_y = float(int(height / 2)) -center = 2.0 - -horizontal(coord_x, coord_y, center, True) -horizontal(coord_x, coord_y, center, False) - -# Plot point cloud -fig = plt.figure(figsize=(8, 6)) -ax = fig.add_subplot(111, projection="3d") -# sc = ax.scatter(X, Y, Z, c=Z, cmap='viridis', s=1) -sc = ax.scatter(xs, ys, zs, s=1) -ax.set_xlabel("X [m]") -ax.set_ylabel("Y [m]") -ax.set_zlabel("Z [m]") -# set_axes_equal_so(ax) - -# Create cubic bounding box to simulate equal aspect ratio -xs = np.array(xs) -ys = np.array(ys) -zs = np.array(zs) -max_range = np.array( - [xs.max() - xs.min(), ys.max() - ys.min(), zs.max() - zs.min()] -).max() -Xb = 0.5 * max_range * np.mgrid[-1:2:2, -1:2:2, -1:2:2][0].flatten() + 0.5 * ( - xs.max() + xs.min() -) -Yb = 0.5 * max_range * np.mgrid[-1:2:2, -1:2:2, -1:2:2][1].flatten() + 0.5 * ( - ys.max() + ys.min() -) -Zb = 0.5 * max_range * np.mgrid[-1:2:2, -1:2:2, -1:2:2][2].flatten() + 0.5 * ( - zs.max() + zs.min() -) -# Comment or uncomment following both lines to test the fake bounding box: -for xb, yb, zb in zip(Xb, Yb, Zb): - ax.plot([xb], [yb], [zb], "w") -ax.set_box_aspect((1, 1, 1)) -plt.title("3D Point Cloud from Depth Calculation") -plt.show() diff --git a/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere_point.py b/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere_point.py deleted file mode 100755 index fa510929a..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/scripts/sphere_point.py +++ /dev/null @@ -1,148 +0,0 @@ -#!/usr/bin/python3 -import numpy as np -import matplotlib.pyplot as plt - - -def test(): - c = np.array([3.0, 1.0]) - ps = [] - - for a in np.arange(-np.pi / 2, np.pi / 2.0 + 0.01, np.pi / 8.0): - angle = a - # angle = 0. - p = c + np.array([np.cos(angle), np.sin(angle)]) - - ang = np.arctan((p[1] - c[1]) / (p[0] - c[0])) - ang = (ang + np.pi / 2.0) / np.pi * 1000.0 # 0 to 1000 - ang = int(ang) - print(ang) - ang = float(ang) - ang = ang / 1000.0 * np.pi - np.pi / 2.0 - print(angle, ang) - - ps.append(p) - - ps = np.array(ps) - print(ps) - plt.plot(c[0], c[1], "o") - plt.plot(ps[:, 0], ps[:, 1], ".") - plt.axis("equal") - plt.show() - - -test() - - -def orthonormal_equator_basis(n, r_ref=np.array([0.0, 0.0, -1.0]), eps=1e-12): - """ - Return orthonormal basis (e1, e2) spanning the plane orthogonal to n. - Prefer to use the projection of r_ref into that plane. If projection is - (near) zero (r_ref parallel/opposite to n), choose a stable fallback. - n must be unit (or will be normalized). - """ - n = np.array(n, dtype=float) - n_norm = np.linalg.norm(n) - if n_norm == 0: - raise ValueError("n must be non-zero") - n = n / n_norm - - # Try projection of r_ref - r_ref = np.array(r_ref, dtype=float) - u = r_ref - np.dot(r_ref, n) * n - u_norm = np.linalg.norm(u) - - if u_norm > eps: - e1 = u / u_norm - else: - # r_ref was parallel/opposite to n -> pick a fallback axis: - # choose the coordinate axis least aligned with n - abs_n = np.abs(n) - # index of smallest component - idx = int(np.argmin(abs_n)) - # unit vector along that coordinate axis - axis = np.zeros(3) - axis[idx] = 1.0 - # e1 is perpendicular to n: cross(n, axis) (and normalize) - e1 = np.cross(n, axis) - e1 = e1 / np.linalg.norm(e1) - - e2 = np.cross(n, e1) # already unit if n,e1 are orthonormal - # e2 *= -1 - e1 = np.array([0, 0, -1]) - e2 = np.array([1, 0, 0]) - print("e", e1, e2) - return e1, e2 - - -def compute_center_equator( - P, R, phi, n=np.array([0.0, 0.0, 1.0]), r_ref=np.array([0.0, 0.0, -1.0]) -): - """ - Compute sphere center from: - P: point on equator (3,) - R: radius - phi: angle from 'top' (radians) - n: sphere axis (unit ideally) - r_ref: reference direction for 'top' (default camera-back) - """ - e1, e2 = orthonormal_equator_basis(n, r_ref) - C = P - R * (np.cos(phi) * e1 + np.sin(phi) * e2) - return C, e1, e2 - - -# ---------------------------- -# Example: generate and recover -# ---------------------------- -R = 1.0 -phi_true = np.deg2rad(10.0) - -# True center (camera coords) and axis -C_true = np.array([0.5, 0.0, 3.0]) -n = np.array([0.0, 1.0, 0.0]) # upright sphere (this makes r_ref parallel/opposite) - -# Build equator basis robustly (this will use fallback since r_ref is opposite n) -e1, e2 = orthonormal_equator_basis(n, r_ref=np.array([0.0, 0.0, -1.0])) -# top and point P on equator at phi_true -P_top = C_true + R * e1 -P = C_true + R * (np.cos(phi_true) * e1 + np.sin(phi_true) * e2) - -# Recover center from P, R, phi_true -C_est, e1_est, e2_est = compute_center_equator( - P, R, phi_true, n=n, r_ref=np.array([0.0, 0.0, -1.0]) -) - -print("True center: ", C_true) -print("Estimated center:", C_est) -print("Reconstruction error norm:", np.linalg.norm(C_est - C_true)) - -# ---------------------------- -# Plot for verification -# ---------------------------- -fig = plt.figure(figsize=(8, 6)) -ax = fig.add_subplot(111, projection="3d") - -# Sphere surface -u_grid, v_grid = np.mgrid[0 : 2 * np.pi : 60j, 0 : np.pi : 30j] -xs = C_true[0] + R * np.cos(u_grid) * np.sin(v_grid) -ys = C_true[1] + R * np.sin(u_grid) * np.sin(v_grid) -zs = C_true[2] + R * np.cos(v_grid) -ax.plot_surface(xs, ys, zs, color="lightblue", alpha=0.4, linewidth=0) - -# Points and vectors -ax.scatter(*C_true, color="k", label="True Center", s=60) -ax.scatter(*P_top, color="g", label="Top (phi=0)", s=50) -ax.scatter(*P, color="r", label="Equator point P", s=50) -ax.scatter(*C_est, color="orange", label="Recovered Center", s=80, marker="x") - -# show e1/e2 basis at center -scale = 0.5 -ax.quiver(*(C_true), *(e1 * scale), color="g", length=scale, normalize=False) -ax.quiver(*(C_true), *(e2 * scale), color="m", length=scale, normalize=False) - -ax.set_xlabel("X (right)") -ax.set_ylabel("Y (down)") -ax.set_zlabel("Z (forward)") -ax.set_box_aspect([1, 1, 1]) -ax.legend() -ax.set_title("Robust center recovery (handles r_ref || n)") -plt.show() diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/collision.cs b/robot/ros_ws/src/local/planners/droan_gl/shaders/collision.cs deleted file mode 100644 index c0c584119..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/collision.cs +++ /dev/null @@ -1,96 +0,0 @@ -#version 450 core -layout(local_size_x = 256) in; - -struct State { - vec3 pos; - vec3 vel; - vec3 acc; - vec3 jerk; - vec3 collision; -}; - -struct TrajectoryPoint { - vec4 v1; - vec4 v2; -}; - -layout(binding = 0, r32i) uniform iimage2DArray tex_array; - -layout(std430, binding = 1) buffer TrajectoryPoints { - TrajectoryPoint points[]; -}; - -layout(std430, binding = 2) buffer ImageTransforms { - mat4 image_tfs[]; -}; - -uniform mat4 state_tf; -uniform float fx; -uniform float fy; -uniform float cx; -uniform float cy; -uniform float baseline; -uniform int width, height; -uniform int limit; -uniform float scale; -uniform float expansion_radius; -uniform int graph_nodes; - -void main() { - uint index = gl_GlobalInvocationID.x; - if(index >= limit) - return; - - TrajectoryPoint tp = points[index]; - vec4 pos_map = state_tf*tp.v1; - - //float collision = 0.; - vec3 collision = vec3(0, 0, 0); - for(int i = 0; i < graph_nodes; i++){ - mat4 map_to_cam_tf = image_tfs[i]; - vec4 pos_cam = map_to_cam_tf*pos_map; - bool is_seen = tp.v2.x < 0; - - if(pos_cam.z < 0. && !is_seen){ - //collision += 1000.; - collision.y += 1.; - continue; - } - - float u = pos_cam.x*fx/pos_cam.z + cx; - float v = pos_cam.y*fy/pos_cam.z + cy; - float disp = baseline*fx/pos_cam.z*scale; - - //float fg_depth = baseline*fx/(float(imageLoad(tex_array, ivec3(u, v, 2*i)).x)); - //float diff = pos_cam.z - fg_depth; - - bool in_image_bounds = u >= 0 && v >= 0 && u < width && v < height; - if(!in_image_bounds && !is_seen){ - //collision += 1000.; - collision.y += 1.; - continue; - } - - float fg_disp = float(imageLoad(tex_array, ivec3(u, v, 2*i)).x); - float bg_disp = float(imageLoad(tex_array, ivec3(u, v, 2*i+1)).x); - - //if(u >= 0 && v >= 0 && u < width && v < height && diff > 0 /* && diff < (2*expansion_radius)*/){ - - // unseen - if(!is_seen && (!in_image_bounds || pos_cam.z < 0. || (in_image_bounds && bg_disp < 2000000000. && disp < bg_disp))) - collision.y += 1; - //collision += 1000.; - // collision - else if(in_image_bounds && disp < fg_disp && disp > bg_disp) - collision.x += 1; - //collision += 1.; - // seen - else - collision.z += 1; - //collision += 1000000.; - } - - tp.v1 = vec4(pos_map.xyz, 1); - tp.v2 = vec4(collision, abs(tp.v2.w)); - points[index] = tp; -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand.cs b/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand.cs deleted file mode 100644 index eb99b16c2..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand.cs +++ /dev/null @@ -1,39 +0,0 @@ -// disparity_expand.comp -#version 450 -layout(local_size_x = 16, local_size_y = 16) in; - -layout(binding = 0, r32f) uniform readonly image2D disparityIn; -layout(binding = 1, r32f) uniform writeonly image2D disparityForeground; -layout(binding = 2, r32f) uniform writeonly image2D disparityBackground; - -uniform float expansionRadius; // in pixels -uniform float discontinuityThresh; // disparity difference threshold - -void main() { - ivec2 coord = ivec2(gl_GlobalInvocationID.xy); - ivec2 size = imageSize(disparityIn); - if (coord.x >= size.x || coord.y >= size.y) return; - - float center = imageLoad(disparityIn, coord).r; - if (center <= 0.0) return; // no valid disparity - - float maxDisp = center; - float minDisp = center; - - // local expansion - for (int dy = -int(expansionRadius); dy <= int(expansionRadius); ++dy) { - for (int dx = -int(expansionRadius); dx <= int(expansionRadius); ++dx) { - ivec2 p = coord + ivec2(dx, dy); - if (p.x < 0 || p.y < 0 || p.x >= size.x || p.y >= size.y) continue; - float d = imageLoad(disparityIn, p).r; - if (d <= 0.0) continue; - // skip large depth discontinuities - if (abs(d - center) > discontinuityThresh) continue; - maxDisp = max(maxDisp, d); - minDisp = min(minDisp, d); - } - } - - imageStore(disparityForeground, coord, vec4(maxDisp)); - imageStore(disparityBackground, coord, vec4(minDisp)); -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand_horizontal.cs b/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand_horizontal.cs deleted file mode 100644 index 41d40e110..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand_horizontal.cs +++ /dev/null @@ -1,90 +0,0 @@ -#version 450 -layout(local_size_x = 16, local_size_y = 16) in; - -layout(binding = 0, r32i) uniform iimage2D fgHoriz; -layout(binding = 1, r32i) uniform iimage2DArray fgFinal; -layout(binding = 2, r32f) uniform readonly image2D disparityIn; - -uniform float baseline; -uniform float fx; -uniform float fy; -uniform float cx; -uniform float cy; -uniform float expansion_radius; -uniform float discontinuityThresh; -uniform float scale; -uniform int downsample_scale; -uniform int layer; -uniform bool is_fg; - -const float PI = 3.14159265358979323846; - -void main() { - ivec2 coord = ivec2(gl_GlobalInvocationID.xy); - ivec2 size = imageSize(disparityIn); - if (coord.x >= size.x*downsample_scale || coord.y >= size.y*downsample_scale) return; - //if (coord.x >= size.x || coord.y >= size.y) return; - - ivec2 in_coord = downsample_scale*coord; - float center = is_fg ? 0.f : 100000.f; - for(int i = 0; i < downsample_scale; i++){ - for(int j = 0; j < downsample_scale; j++){ - float disp = imageLoad(disparityIn, in_coord + ivec2(i, j)).r; - if(is_fg) - center = max(center, disp); - else if(disp > 0) - center = min(center, disp); - } - } - - if (center <= 0.f || center > 1000.f) return; - center /= downsample_scale; - - - //int centerInt = imageLoad(disparityIn, coord).r; - float center_depth = fx*baseline / center; - - int radius = int(expansion_radius * center / baseline); - - float a_0 = (float(coord.x) - cx)/fx; - float b = (float(coord.y) - cy)/fy; - float b_0 = (float(coord.y) - cy)/fy; - - float Zc = center_depth; - float Xc = a_0*Zc; - - for (int dx = -radius; dx <= radius; ++dx) { - ivec2 p = coord + ivec2(dx, 0); - if (p.x < 0 || p.x >= size.x) continue; - - float a = (float(p.x) - cx)/fx; - float A = a*a + b*b + 1; - float B = -2.*Zc*(a*a_0 + b*b_0 + 1); - float C = Zc*Zc*(a_0*a_0 + b_0*b_0 + 1) - expansion_radius*expansion_radius; - //if((B*B - 4.*A*C) < 0.) - // break; - float Zp = (-B + (is_fg ? -1. : 1.)*sqrt(B*B - 4.*A*C))/(2.*A); - int new_disp = int(scale*fx*baseline / Zp); - - //float Zp_bg = (-B - sqrt(B*B - 4.*A*C))/(2.*A); - //int new_disp_bg = int(scale*fx*baseline / Zp_bg); - - float Xp = a*Zp; - float raw_angle = atan(Xp - Xc, Zp - Zc); - int angle = int((raw_angle + PI/2.) / PI * 1000.); - - new_disp = (new_disp & ~0x3FF) | (angle & 0x3FF); - - //float new_angle = float(new_disp & 0x3FF) / 1000. * PI - PI/2.; - - if(is_fg) - imageAtomicMax(fgHoriz, p, new_disp); - else{ - float depth_fg = baseline*fx/(float(imageLoad(fgFinal, ivec3(p.xy, layer-1)).r)/scale); - float diff = Zp - depth_fg; - if(diff < 3*expansion_radius) - imageAtomicMin(fgHoriz, p, new_disp); - } - //imageAtomicMin(bgHoriz, p, new_disp_bg); - } -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand_vertical.cs b/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand_vertical.cs deleted file mode 100644 index 9035b317a..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/disparity_expand_vertical.cs +++ /dev/null @@ -1,98 +0,0 @@ -#version 450 -layout(local_size_x = 16, local_size_y = 16) in; - -layout(binding = 0, r32i) uniform readonly iimage2D fgHoriz; -layout(binding = 1, r32i) uniform iimage2DArray fgFinal; - -uniform float baseline; -uniform float fx; -uniform float fy; -uniform float cx; -uniform float cy; -uniform float expansion_radius; -uniform float discontinuityThresh; -uniform float scale; -uniform int downsample_scale; -uniform int layer; -uniform bool is_fg; - -const float PI = 3.14159265358979323846; - -void main() { - ivec2 coord = ivec2(gl_GlobalInvocationID.xy); - ivec2 size = imageSize(fgHoriz); - if (coord.x >= size.x || coord.y >= size.y) return; - - // TODO remove - //imageStore(bgFinal, coord, imageLoad(bgHoriz, coord)); - //imageStore(fgFinal, ivec3(coord.xy, layer), imageLoad(fgHoriz, coord)); - //return; - - int centerInt = imageLoad(fgHoriz, coord).r; - if (centerInt <= 0) return; - float center_depth = fx*baseline / (float(centerInt) / scale); - - int radius = int(expansion_radius * (float(centerInt) / scale) / baseline); - if(radius > 2000) - return; - - float a = (float(coord.x) - cx)/fx; - //float a_0 = (float(coord.x) - cx)/fx; - float b_0 = (float(coord.y) - cy)/fy; - - - float angle = float(centerInt & 0x3FF) / 1000. * PI - PI/2.; - float Zc = center_depth + expansion_radius*cos(angle); - float Xc = (float(coord.x) - cx)*center_depth/fx + expansion_radius*sin(angle);//(float(coord.x) - cx)*Zc/fx; - - if(!is_fg){ - //angle = -angle; - Zc = center_depth - expansion_radius*cos(angle); - Xc = (float(coord.x) - cx)*center_depth/fx - expansion_radius*sin(angle); - } - float a_0 = Xc/Zc; - //float Xc = a_0*Zc; - //float Yc = b_0*Zc; - - float uc = fx*a_0 + cx; - float vc = fy*b_0 + cy; - float ru = fx*expansion_radius/Zc; - float rv = fy*expansion_radius/Zc; - - int ymin = int(floor(vc - rv*sqrt(1. - ((float(coord.x) - uc)*(float(coord.x) - uc))/(ru*ru)))); - int ymax = int(ceil(vc + rv*sqrt(1. - ((float(coord.x) - uc)*(float(coord.x) - uc))/(ru*ru)))); - for (int y = ymin; y <= ymax; ++y) { - ivec3 p = ivec3(coord.x, y, layer); - //for (int dy = -radius; dy <= radius; ++dy) { - // ivec3 p = ivec3(coord.x, coord.y+dy, layer);//coord + ivec2(0, dy); - if (p.y < 0 || p.y >= size.y) continue; - - float b = (float(p.y) - cy)/fy; - float A = a*a + b*b + 1; - float B = -2.*Zc*(a*a_0 + b*b_0 + 1); - float C = Zc*Zc*(a_0*a_0 + b_0*b_0 + 1) - expansion_radius*expansion_radius; - if((B*B - 4.*A*C) < 0.) - continue; - //float Zp = (-B + (is_fg ? -1. : 1.)*sqrt(B*B - 4.*A*C))/(2.*A); - //int new_disp = int(scale*fx*baseline / Zp); - - float Zp = (-B - sqrt(B*B - 4.*A*C))/(2.*A); - int new_disp = int(scale*fx*baseline / Zp); - - float Zp_bg = (-B + sqrt(B*B - 4.*A*C))/(2.*A); - int new_disp_bg = int(scale*fx*baseline / Zp_bg); - - //float Zp_bg = (-B + sqrt(B*B - 4.*A*C))/(2.*A); - //int new_disp_bg = int(scale*fx*baseline / Zp_bg); - - if(is_fg) - imageAtomicMax(fgFinal, p, new_disp); - else{ - float depth_fg = baseline*fx/(float(imageLoad(fgFinal, ivec3(p.xy, layer-1)).r)/scale); - float diff = Zp_bg - depth_fg; - if(diff < 3*expansion_radius) - imageAtomicMin(fgFinal, p, new_disp_bg); - } - //imageAtomicMin(bgFinal, p, new_disp_bg); - } -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/expansion.frag b/robot/ros_ws/src/local/planners/droan_gl/shaders/expansion.frag deleted file mode 100644 index 064fa53e3..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/expansion.frag +++ /dev/null @@ -1,40 +0,0 @@ -#version 430 - -uniform sampler2DArray tex_array; -uniform sampler2D disparity_tex; -uniform float baseline_fx; -uniform float sign; - -in float disparity; -in float back_disparity; -in float origin_disparity; -in float circle_depth; -in vec2 fragUV; - -out float FragColor; - -void main() { - /* - FragColor = origin_disparity; - float depth = baseline_fx / FragColor + circle_depth; - FragColor = baseline_fx / depth; - float disp_curr = texture(disparity_tex, fragUV).r; - float depth_curr = baseline_fx / disp_curr; - - if((depth_curr - depth) < 2.) - FragColor = baseline_fx / (depth_curr + 2.); - */ - - //* - if(sign > 0) - FragColor = disparity; - else{ - float front_depth = baseline_fx / texture(tex_array, vec3(fragUV, 0)).r; // TODO: 0 is hardcoded texture index - float back_depth = baseline_fx / back_disparity; - if(abs(front_depth - back_depth) > 3.) // TODO dont do abs, instead have the correct order, remove hardcoded 3 - discard; // TODO double check whether discard always works or there is still some culling happening - else - FragColor = disparity; - } - //*/ -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/expansion.vert b/robot/ros_ws/src/local/planners/droan_gl/shaders/expansion.vert deleted file mode 100644 index 3aef92eb0..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/expansion.vert +++ /dev/null @@ -1,42 +0,0 @@ -#version 430 - -layout(location=0) in vec3 aPos; -layout(location=1) in vec3 offset; - -uniform mat4 proj; -uniform mat4 view; -uniform float baseline_fx; -uniform float sign; - -out float disparity; -out float back_disparity; -out float origin_disparity; -out float circle_depth; -out vec2 fragUV; - -void main() { - vec3 viewDir = sign*normalize(-offset); //camera pos - offset, but camera pos is 0,0,0 - vec3 up = vec3(0.0, 1.0, 0.0); - vec3 right = normalize(cross(up, viewDir)); - vec3 newUp = normalize(cross(viewDir, right)); - mat3 rot = mat3(right, newUp, viewDir); - - vec3 viewDir_bg = -sign*normalize(-offset); //camera pos - offset, but camera pos is 0,0,0 - vec3 up_bg = vec3(0.0, 1.0, 0.0); - vec3 right_bg = normalize(cross(up_bg, viewDir_bg)); - vec3 newUp_bg = normalize(cross(viewDir_bg, right_bg)); - mat3 rot_bg = mat3(right_bg, newUp_bg, viewDir_bg); - - vec4 eye_pos = view * vec4(rot*aPos + offset, 1.0); - disparity = baseline_fx / -eye_pos.z; - - vec4 eye_pos_bg = view * vec4(rot_bg*aPos + offset, 1.0); - back_disparity = baseline_fx / -eye_pos_bg.z; - origin_disparity = baseline_fx / offset.z; - - circle_depth = aPos.z; - - gl_Position = proj * eye_pos; - fragUV = (gl_Position.xy / gl_Position.w) * 0.5 + 0.5; - fragUV.x = 1. - fragUV.x; -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/traj_collision.cs b/robot/ros_ws/src/local/planners/droan_gl/shaders/traj_collision.cs deleted file mode 100644 index ffb8c935a..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/traj_collision.cs +++ /dev/null @@ -1,125 +0,0 @@ -#version 450 core -layout(local_size_x = 256) in; - -struct State { - vec3 pos; - vec3 vel; - vec3 acc; - vec3 jerk; - vec3 collision; -}; - -struct TrajectoryParams { - vec3 vel_desired; - float vel_max; -}; - - -layout(binding = 0, r32i) uniform iimage2DArray tex_array; - -layout(std140, binding = 1) uniform CommonInit { - State initial_state; - int traj_count; - int traj_size; - float dt; -}; - -layout(std430, binding = 2) buffer ParamsBuffer { - TrajectoryParams params[]; -}; - -layout(std430, binding = 3) buffer TrajectoryPoints { - vec4 points[]; -}; - -layout(std430, binding = 4) buffer ImageTransforms { - mat4 image_tfs[]; -}; - -layout(std140, binding = 5) uniform CollisionInfo { - mat4 state_tf; - float fx, fy, cx, cy; - float baseline; - int width, height; - int limit; - float scale; - float expansion_radius; - int graph_nodes; -}; - - - -void main() { - uint traj_index = gl_GlobalInvocationID.x; - TrajectoryParams p = params[traj_index]; - - float k_v = 8.165; - float k_a = 8.1096; - float k_j = 4.027; - float snap_lim = 100.f; - - State state = initial_state; - - for(int i = 0; i < traj_size; i++){ - vec3 snap = -k_v*(state.vel - p.vel_desired) - k_a*state.acc - k_j*state.jerk; - snap = clamp(snap, -snap_lim, snap_lim); - state.jerk += snap*dt; - state.acc += state.jerk*dt; - state.vel += state.acc*dt; - state.pos += state.vel*dt; - - vec4 pos_map = state_tf*vec4(state.pos, 1); - - float collision = 1.; - for(int j = 0; j < graph_nodes; j++){ - mat4 map_to_cam_tf = image_tfs[j]; - vec4 pos_cam = map_to_cam_tf*pos_map; - - float u = pos_cam.x*fx/pos_cam.z + cx; - float v = pos_cam.y*fy/pos_cam.z + cy; - float disp = baseline*fx/pos_cam.z; - - float fg_disp = float(imageLoad(tex_array, ivec3(u, v, 2*j)).x)/scale; - float bg_disp = float(imageLoad(tex_array, ivec3(u, v, 2*j+1)).x)/scale; - - if(u >= 0 && v >= 0 && u < width && v < height && disp < fg_disp && disp > bg_disp){ - collision = 0.; - break; - } - } - - points[traj_index * traj_size + i] = vec4(pos_map.xyz, collision); - } - - /* - for(int j = 0; j < graph_nodes; j++){ - state = initial_state; - mat4 map_to_cam_tf = image_tfs[j]; - for(int i = 0; i < traj_size; i++){ - vec3 snap = -k_v*(state.vel - p.vel_desired) - k_a*state.acc - k_j*state.jerk; - snap = clamp(snap, -snap_lim, snap_lim); - state.jerk += snap*dt; - state.acc += state.jerk*dt; - state.vel += state.acc*dt; - state.pos += state.vel*dt; - - vec4 pos_map = state_tf*vec4(state.pos, 1); - vec4 pos_cam = map_to_cam_tf*pos_map; - - float u = pos_cam.x*fx/pos_cam.z + cx; - float v = pos_cam.y*fy/pos_cam.z + cy; - float disp = baseline*fx/pos_cam.z; - - float fg_disp = float(imageLoad(tex_array, ivec3(u, v, 2*j)).x)/scale; - float bg_disp = float(imageLoad(tex_array, ivec3(u, v, 2*j+1)).x)/scale; - - float collision = 1.; - if(u >= 0 && v >= 0 && u < width && v < height && disp < fg_disp && disp > bg_disp){ - collision = 0.; - } - - points[traj_index * traj_size + i] = vec4(pos_map.xyz, collision); - } - } - */ -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/shaders/trajectory.cs b/robot/ros_ws/src/local/planners/droan_gl/shaders/trajectory.cs deleted file mode 100644 index 3c7539768..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/shaders/trajectory.cs +++ /dev/null @@ -1,69 +0,0 @@ -#version 450 core -layout(local_size_x = 256) in; - -struct State { - vec3 pos; - vec3 vel; - vec3 acc; - vec3 jerk; - vec3 collision; -}; - -struct TrajectoryPoint { - vec4 v1; - vec4 v2; -}; - -struct TrajectoryParams { - vec3 vel_desired; - float vel_max; -}; - -layout(std140, binding = 0) uniform CommonInit { - State initial_state; -}; - -layout(std430, binding = 1) buffer ParamsBuffer { - TrajectoryParams params[]; -}; - -layout(std430, binding = 2) buffer OutputBuffer { - TrajectoryPoint points[]; -}; - -uniform int traj_count; -uniform int traj_size; -uniform float dt; -uniform float seen_radius; - -void main() { - uint traj_index = gl_GlobalInvocationID.x; - TrajectoryParams p = params[traj_index]; - if(traj_index >= traj_count) - return; - - float k_v = 8.165; - float k_a = 8.1096; - float k_j = 4.027; - float snap_lim = 100.f; - State state = initial_state; - vec3 initial_pos = initial_state.pos; - - for(int i = 0; i < traj_size; i++){ - vec3 snap = -k_v*(state.vel - p.vel_desired) - k_a*state.acc - k_j*state.jerk; - snap = clamp(snap, -snap_lim, snap_lim); - state.jerk += snap*dt; - state.acc += state.jerk*dt; - state.vel += state.acc*dt; - state.pos += state.vel*dt; - - // use this to check if it should be seen because its close to the drone's position - // TODO what if vel is 0? - float is_seen = distance(state.pos, initial_pos) < seen_radius ? -1. : 1.; - - TrajectoryPoint tp; - tp.v1 = vec4(state.pos, 1); - tp.v2 = vec4(is_seen, 0, 0, length(state.vel)); - points[traj_index * traj_size + i] = tp; - } -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/src/droan_gl_node.cpp b/robot/ros_ws/src/local/planners/droan_gl/src/droan_gl_node.cpp deleted file mode 100644 index f9b03e3c3..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/src/droan_gl_node.cpp +++ /dev/null @@ -1,563 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -#include -#include -#include - -class DisparityExpanderNode : public rclcpp::Node -{ -private: - rclcpp::Subscription::SharedPtr global_plan_sub; - rclcpp::Subscription::SharedPtr disp_sub_; - rclcpp::Subscription::SharedPtr caminfo_sub_; - rclcpp::Subscription::SharedPtr look_ahead_sub; - rclcpp::Subscription::SharedPtr tracking_point_sub; - rclcpp::Subscription::SharedPtr reset_stuck_sub; - rclcpp::Subscription::SharedPtr clear_map_sub; - tf2_ros::Buffer *tf_buffer; - tf2_ros::TransformListener *tf_listener; - - rclcpp::Publisher::SharedPtr fg_pub_, bg_pub_; - rclcpp::Publisher::SharedPtr fg_bg_cloud_pub_; - rclcpp::Publisher::SharedPtr traj_debug_pub_; - rclcpp::Publisher::SharedPtr graph_vis_pub_; - rclcpp::Publisher::SharedPtr global_plan_vis_pub; - rclcpp::Publisher::SharedPtr traj_pub; - rclcpp::Publisher::SharedPtr stuck_pub; - rclcpp::Publisher::SharedPtr rewind_info_pub; - - rclcpp::TimerBase::SharedPtr timer; - - // Action server (NavigateTask) - using NavigateTask = task_msgs::action::NavigateTask; - using NavigateGoalHandle = rclcpp_action::ServerGoalHandle; - rclcpp_action::Server::SharedPtr navigate_action_server_; - rclcpp::Client::SharedPtr trajectory_mode_client_; - std::atomic task_active_{false}; - std::atomic cancel_requested_{false}; - airstack_msgs::msg::Odometry tracking_point_odom_; - bool tracking_point_valid_ = false; - - std::string target_frame, look_ahead_frame, rewind_info_frame; - bool look_ahead_valid; - airstack_msgs::msg::Odometry look_ahead; - std::vector trajectory_points; - vis::MarkerArray traj_markers; - bool visualize; - - GLInterface *gl_interface; - GlobalPlan *global_plan; - RewindMonitor *rewind_monitor; - -public: - DisparityExpanderNode() - : Node("disparity_expander_node") - { - disp_sub_ = create_subscription("disparity", 10, - std::bind(&DisparityExpanderNode::onDisparity, - this, std::placeholders::_1)); - caminfo_sub_ = create_subscription("camera_info", 10, - std::bind(&DisparityExpanderNode::onCameraInfo, - this, std::placeholders::_1)); - look_ahead_sub = create_subscription("look_ahead", 10, - std::bind(&DisparityExpanderNode::look_ahead_callback, - this, std::placeholders::_1)); - tracking_point_sub = create_subscription("tracking_point", 10, - std::bind(&DisparityExpanderNode::tracking_point_callback, - this, std::placeholders::_1)); - global_plan_sub = create_subscription("global_plan", 1, - std::bind(&DisparityExpanderNode::global_plan_callback, - this, std::placeholders::_1)); - reset_stuck_sub = this->create_subscription("reset_stuck", 1, - std::bind(&DisparityExpanderNode::reset_stuck_callback, - this, std::placeholders::_1)); - clear_map_sub = this->create_subscription("clear_map", 1, - std::bind(&DisparityExpanderNode::clear_map_callback, - this, std::placeholders::_1)); - - tf_buffer = new tf2_ros::Buffer(get_clock()); - tf_listener = new tf2_ros::TransformListener(*tf_buffer); - - fg_pub_ = create_publisher("foreground_expanded", 1); - bg_pub_ = create_publisher("background_expanded", 1); - fg_bg_cloud_pub_ = create_publisher("fg_bg_cloud", 1); - traj_debug_pub_ = create_publisher("traj_debug", 1); - graph_vis_pub_ = create_publisher("graph_vis", 1); - global_plan_vis_pub = create_publisher("local_planner_global_plan_vis", 1); - traj_pub = create_publisher("trajectory_segment_to_add", 1); - stuck_pub = create_publisher("stuck", 1); - rewind_info_pub = create_publisher("rewind_info", 1); - - target_frame = airstack::get_param(this, "target_frame", std::string("map")); - look_ahead_frame = airstack::get_param(this, "look_ahead_frame", std::string("look_ahead_point_stabilized")); - rewind_info_frame = airstack::get_param(this, "rewind_info_frame", std::string("base_link_stabilized")); - visualize = airstack::get_param(this, "visualize", true); - - look_ahead_valid = false; - - gl_interface = new GLInterface(this, tf_buffer); - global_plan = new GlobalPlan(this, tf_buffer); - rewind_monitor = new RewindMonitor(this); - - // TODO make this time a parameter - timer = rclcpp::create_timer(this, get_clock(), rclcpp::Duration::from_seconds(2. * 1. / 5.), - std::bind(&DisparityExpanderNode::timer_callback, this)); - - trajectory_mode_client_ = create_client("set_trajectory_mode"); - - navigate_action_server_ = rclcpp_action::create_server( - this, "~/navigate_task", - std::bind(&DisparityExpanderNode::handle_navigate_goal, this, - std::placeholders::_1, std::placeholders::_2), - std::bind(&DisparityExpanderNode::handle_navigate_cancel, this, std::placeholders::_1), - std::bind(&DisparityExpanderNode::handle_navigate_accepted, this, std::placeholders::_1)); - - RCLCPP_INFO(get_logger(), "DisparityExpanderNode initialized, waiting for NavigateTask goals"); - } - -private: - /** - * @brief Callback for camera intrinsics messages - * @param msg Camera info message containing intrinsic parameters - * - * Forwards camera intrinsics to the GL interface for initialization of - * GPU-based disparity expansion and collision checking. - */ - void onCameraInfo(const sensor_msgs::msg::CameraInfo::SharedPtr msg) - { - gl_interface->handle_camera_info(msg); - } - - /** - * @brief Callback for disparity image messages - * @param msg Disparity image from stereo camera - * - * Processes incoming disparity images through GPU-based expansion - * and optionally publishes visualization of the expanded obstacles. - */ - void onDisparity(const stereo_msgs::msg::DisparityImage::SharedPtr msg) - { - gl_interface->handle_disparity(msg); - if (visualize) - gl_interface->publish_viz(msg->header, fg_pub_, bg_pub_, fg_bg_cloud_pub_, graph_vis_pub_); - } - - /** - * @brief Main execution loop for trajectory planning - * - * Runs at 2.5 Hz to: - * 1. Evaluate trajectories using GPU-based collision checking - * 2. Score collision-free trajectories based on global path alignment - * 3. Select and publish the best trajectory - * 4. Monitor for stuck conditions requiring rewind - */ - void timer_callback() - { - if (!look_ahead_valid) - return; - - std_msgs::msg::Bool stuck_msg; - stuck_msg.data = rewind_monitor->should_rewind(); - stuck_pub->publish(stuck_msg); - rewind_monitor->publish_vis(rewind_info_pub, rewind_info_frame); - - tf2::Transform look_ahead_to_target_tf; - gl_interface->evaluate_trajectories(look_ahead, trajectory_points, look_ahead_to_target_tf); - if (trajectory_points.empty()) - return; - - global_plan->trim(look_ahead); - - traj_markers.overwrite(); - vis::Marker &free_markers = traj_markers.add_points(target_frame, look_ahead.header.stamp); - free_markers.set_namespace("free_points"); - free_markers.set_color(0., 1., 0.); - free_markers.set_scale(0.1, 0.1, 0.1); - vis::Marker &free_traj_markers = traj_markers.add_line_list(target_frame, look_ahead.header.stamp, - 0., 1., 0., 0.8, - 0.1, 0); - free_traj_markers.set_namespace("free_trajectories"); - - vis::Marker &collision_markers = traj_markers.add_points(target_frame, look_ahead.header.stamp); - collision_markers.set_namespace("collision_points"); - collision_markers.set_color(1., 0., 0.); - collision_markers.set_scale(0.1, 0.1, 0.1); - vis::Marker &collision_traj_markers = traj_markers.add_line_list(target_frame, look_ahead.header.stamp, - 1., 0., 0., 0.8, - 0.1, 0); - collision_traj_markers.set_namespace("collision_trajectories"); - - vis::Marker &unseen_markers = traj_markers.add_points(target_frame, look_ahead.header.stamp); - unseen_markers.set_namespace("unseen_points"); - unseen_markers.set_color(0.7, 0.7, 0.7, 0.3); - unseen_markers.set_scale(0.1, 0.1, 0.1); - vis::Marker &unseen_traj_markers = traj_markers.add_line_list(target_frame, look_ahead.header.stamp, - 0.7, 0.7, 0.7, 0.3, - 0.1, 0); - unseen_traj_markers.set_namespace("unseen_trajectories"); - - int best_traj_index = -1; - float best_traj_cost = std::numeric_limits::infinity(); - bool is_traj_safe = true; - int SEEN = 0; - int UNSEEN = 1; - int COLLISION = 2; - int traj_status = SEEN; - std::vector traj_points(gl_interface->get_traj_size()); - - for (int i = 0; i < trajectory_points.size(); i++) - { - TrajectoryPoint &state = trajectory_points[i]; - int traj_index = i / gl_interface->get_traj_size(); - int point_index = i % gl_interface->get_traj_size(); - - // int seen, unseen, collision; - // get_counts(state.w(), &seen, &unseen, &collision); - int seen = state.get_seen(); - int unseen = state.get_unseen(); - int collision = state.get_collision(); - - traj_points[point_index] = tf2::Vector3(state.x(), state.y(), state.z()); - - if (collision > 0 && collision > seen) - { - is_traj_safe = false; - collision_markers.add_point(state.x(), state.y(), state.z()); - traj_status = COLLISION; - } - else if (seen > 1) - free_markers.add_point(state.x(), state.y(), state.z()); - else - { - is_traj_safe = false; - unseen_markers.add_point(state.x(), state.y(), state.z()); - if (traj_status == SEEN) - traj_status = UNSEEN; - } - - // if last waypoint in trajectory - if (point_index == (gl_interface->get_traj_size() - 1)) - { - vis::Marker *tm = &free_traj_markers; - if (traj_status == UNSEEN) - tm = &unseen_traj_markers; - else if (traj_status == COLLISION) - tm = &collision_traj_markers; - - for (int j = 1; j < traj_points.size(); j++) - { - tf2::Vector3 &curr = traj_points[j]; - tf2::Vector3 &prev = traj_points[j - 1]; - tm->add_point(prev.x(), prev.y(), prev.z()); - tm->add_point(curr.x(), curr.y(), curr.z()); - } - - int traj_status_log = traj_status; - - traj_status = SEEN; - if (!is_traj_safe) - { - is_traj_safe = true; - continue; - } - - auto [deviation, path_distance] = global_plan->get_distance(state.x(), state.y(), state.z()); - // RCLCPP_INFO_STREAM(get_logger(), i << " " << traj_status_log << " " << deviation << " " << path_distance); - if (deviation >= 0 && path_distance >= 0) - { - // TODO add weights as ros parameters - float cost = deviation - path_distance; - if (cost < best_traj_cost) - { - best_traj_cost = cost; - best_traj_index = traj_index; - } - } - } - } - - traj_debug_pub_->publish(traj_markers.get_marker_array()); - global_plan->publish_vis(global_plan_vis_pub); - - if (best_traj_index < 0) - { - rewind_monitor->found_trajectory(false); - return; - } - rewind_monitor->found_trajectory(true); - - airstack_msgs::msg::TrajectoryXYZVYaw traj; - for (int i = 0; i < gl_interface->get_traj_size(); i++) - { - airstack_msgs::msg::WaypointXYZVYaw wp; - - TrajectoryPoint &state = trajectory_points[best_traj_index * gl_interface->get_traj_size() + i]; - tf2::Vector3 p(state.x(), state.y(), state.z()); - p = look_ahead_to_target_tf * p; - - wp.position.x = p.x(); - wp.position.y = p.y(); - wp.position.z = p.z(); - wp.velocity = state.get_vel(); - - traj.waypoints.push_back(wp); - } - - traj.header.stamp = look_ahead.header.stamp; - traj.header.frame_id = look_ahead_frame; - global_plan->apply_smooth_yaw(traj, look_ahead); - traj_pub->publish(traj); - } - - /** - * @brief Decode packed collision counts from a float value - * @param w Packed float containing seen, unseen, and collision counts - * @param seen Output parameter for number of seen graph nodes - * @param unseen Output parameter for number of unseen graph nodes - * @param collision Output parameter for number of collision graph nodes - * - * Unpacks three integer counts from a single float using modulo arithmetic. - * Format: seen * 1000000 + unseen * 1000 + collision - * - * @note This function appears to be unused in favor of direct accessor methods - */ - void get_counts(float w, int *seen, int *unseen, int *collision) - { - int i = w; - // RCLCPP_INFO_STREAM(get_logger(), "i: " << i); - *collision = i % 1000; - i -= *collision; - // RCLCPP_INFO_STREAM(get_logger(), "i: " << i << " collision: " << *collision); - *unseen = (i % 1000000) / 1000; - // RCLCPP_INFO_STREAM(get_logger(), "i: " << i << " unseen: " << *unseen); - i -= *unseen * 1000; - *seen = i / 1000000; - // RCLCPP_INFO_STREAM(get_logger(), "i: " << i << " seen: " << *seen); - } - - /** - * @brief Callback for look-ahead position updates - * @param msg Odometry message for the look-ahead planning point - * - * Updates the look-ahead position used as the starting point for - * trajectory generation. - */ - void look_ahead_callback(const airstack_msgs::msg::Odometry::SharedPtr msg) - { - look_ahead = *msg; - look_ahead_valid = true; - } - - /** - * @brief Callback for tracking point odometry updates - * @param msg Odometry message for the actual robot tracking point - * - * Updates the rewind monitor with the robot's current position - * for stationary detection and rewind distance tracking. - */ - void tracking_point_callback(const airstack_msgs::msg::Odometry::SharedPtr msg) - { - rewind_monitor->update_odom(msg); - tracking_point_odom_ = *msg; - tracking_point_valid_ = true; - } - - /** - * @brief Callback for global plan updates - * @param msg Path message containing the global plan - * - * Updates the global plan used for scoring trajectories based on - * path alignment and progress. - */ - void global_plan_callback(const nav_msgs::msg::Path::SharedPtr msg) - { - global_plan->set_global_plan(msg); - } - - // --------------------------------------------------------------------------- - // NavigateTask action server - // --------------------------------------------------------------------------- - - rclcpp_action::GoalResponse handle_navigate_goal( - const rclcpp_action::GoalUUID&, - std::shared_ptr /*goal*/) - { - if (task_active_) { - RCLCPP_WARN(get_logger(), "Rejecting NavigateTask goal: task already active"); - return rclcpp_action::GoalResponse::REJECT; - } - task_active_ = true; - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; - } - - rclcpp_action::CancelResponse handle_navigate_cancel( - std::shared_ptr /*goal_handle*/) - { - cancel_requested_ = true; - return rclcpp_action::CancelResponse::ACCEPT; - } - - void handle_navigate_accepted(std::shared_ptr goal_handle) - { - std::thread{std::bind(&DisparityExpanderNode::execute_navigate, this, - std::placeholders::_1), goal_handle}.detach(); - } - - void execute_navigate(std::shared_ptr goal_handle) - { - const auto goal = goal_handle->get_goal(); - cancel_requested_ = false; - - // Feed the goal path into the planner - global_plan->set_global_plan( - std::make_shared(goal->global_plan)); - - // Set trajectory controller to ADD_SEGMENT mode - auto mode_req = std::make_shared(); - mode_req->mode = airstack_msgs::srv::TrajectoryMode::Request::ADD_SEGMENT; - if (trajectory_mode_client_->wait_for_service(std::chrono::seconds(2))) - trajectory_mode_client_->async_send_request(mode_req); - else - RCLCPP_WARN(get_logger(), "set_trajectory_mode service not available"); - - // Goal position is the last pose in the path - geometry_msgs::msg::Point goal_pos; - if (!goal->global_plan.poses.empty()) - goal_pos = goal->global_plan.poses.back().pose.position; - - rclcpp::Rate rate(1.0); - - while (rclcpp::ok()) { - if (cancel_requested_) { - restore_track_mode(); - auto result = std::make_shared(); - result->success = false; - result->message = "Canceled"; - task_active_ = false; - goal_handle->canceled(result); - return; - } - - if (tracking_point_valid_) { - double dx = tracking_point_odom_.pose.position.x - goal_pos.x; - double dy = tracking_point_odom_.pose.position.y - goal_pos.y; - double dz = tracking_point_odom_.pose.position.z - goal_pos.z; - float dist = static_cast(std::sqrt(dx*dx + dy*dy + dz*dz)); - - auto feedback = std::make_shared(); - feedback->status = "navigating"; - feedback->distance_to_goal = dist; - feedback->current_position.x = tracking_point_odom_.pose.position.x; - feedback->current_position.y = tracking_point_odom_.pose.position.y; - feedback->current_position.z = tracking_point_odom_.pose.position.z; - goal_handle->publish_feedback(feedback); - - if (dist < goal->goal_tolerance_m) { - restore_track_mode(); - auto result = std::make_shared(); - result->success = true; - result->message = "Goal reached"; - task_active_ = false; - goal_handle->succeed(result); - return; - } - } - - rate.sleep(); - } - - restore_track_mode(); - auto result = std::make_shared(); - result->success = false; - result->message = "Node shutting down"; - task_active_ = false; - goal_handle->abort(result); - } - - void restore_track_mode() - { - auto mode_req = std::make_shared(); - mode_req->mode = airstack_msgs::srv::TrajectoryMode::Request::TRACK; - trajectory_mode_client_->async_send_request(mode_req); - } - - /** - * @brief Callback to manually reset stuck detection - * @param msg Empty message trigger - * - * Clears the rewind monitor's position history, resetting stuck - * detection when manually commanded. - */ - void reset_stuck_callback(const std_msgs::msg::Empty::SharedPtr msg) - { - rewind_monitor->clear_history(); - } - - /** - * @brief Callback to clear the obstacle map - * @param msg Empty message trigger - * - * Clears the rewind monitor history and should clear the GL interface - * obstacle map (not yet implemented). - */ - void clear_map_callback(const std_msgs::msg::Empty::SharedPtr msg) - { - rewind_monitor->clear_history(); - // TODO gl_interface clear map - } -}; - -int main(int argc, char **argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/src/gl_interface.cpp b/robot/ros_ws/src/local/planners/droan_gl/src/gl_interface.cpp deleted file mode 100644 index 15d5b2b30..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/src/gl_interface.cpp +++ /dev/null @@ -1,715 +0,0 @@ -#include - -/** - * @brief Constructor for GLInterface - * @param node Pointer to the ROS node for parameter access and logging - * @param tf_buffer Pointer to TF buffer for coordinate transformations - * - * Initializes GL interface with ROS parameters and prepares for - * GPU-based disparity expansion and trajectory collision checking. - */ -GLInterface::GLInterface(rclcpp::Node *node, tf2_ros::Buffer *tf_buffer) - : node(node), tf_buffer(tf_buffer) -{ - - target_frame = airstack::get_param(node, "target_frame", std::string("map")); - look_ahead_frame = airstack::get_param(node, "look_ahead_frame", std::string("look_ahead_point_stabilized")); - graph_nodes = airstack::get_param(node, "graph_nodes", 10); - expansion_radius = airstack::get_param(node, "expansion_radius", 2.0); - seen_radius = airstack::get_param(node, "seen_radius", 1.0); - dt = airstack::get_param(node, "dt", 0.2); - ht = airstack::get_param(node, "ht", 10.0); - downsample_scale = airstack::get_param(node, "downsample_scale", 2); - graph_distance_threshold = airstack::get_param(node, "graph_distance_threshold", 1.); - graph_angle_threshold = airstack::get_param(node, "graph_angle_threshold", 30.) * M_PI / 180.; - - total_layers = 2 * graph_nodes; - scale = 1000000.0; - current_node = -1; - fx = -1.; - look_ahead_valid = false; -} - -/** - * @brief Process camera intrinsics and initialize OpenGL context - * @param msg Camera info message with intrinsic parameters - * - * Extracts camera intrinsics (focal length, principal point, baseline) - * and initializes the OpenGL context for GPU processing. Only processes - * the first message received. - */ -void GLInterface::handle_camera_info(const sensor_msgs::msg::CameraInfo::SharedPtr msg) -{ - if (fx > 0.f) - return; - - fx = static_cast(msg->k[0]) / downsample_scale; - fy = static_cast(msg->k[4]) / downsample_scale; - cx = static_cast(msg->k[2]) / downsample_scale; - cy = static_cast(msg->k[5]) / downsample_scale; - image_width = msg->width / downsample_scale; - image_height = msg->height / downsample_scale; - baseline = (msg->p[3] / -msg->p[0]); // assuming right camera - RCLCPP_INFO_THROTTLE(node->get_logger(), *(node->get_clock()), 5000, - "Camera intrinsics loaded: fx=%.2f fy=%.2f cx=%.2f, cy=%.2f, baseline=%.3f", - fx, fy, cx, cy, baseline); - - initGL(msg->width, msg->height, image_width, image_height); -} - -/** - * @brief Process disparity image and perform GPU-based obstacle expansion - * @param msg Disparity image message from stereo camera - * - * Performs the following GPU operations: - * 1. Updates graph node with current camera pose - * 2. Uploads disparity image to GPU texture - * 3. Executes horizontal and vertical expansion passes - * 4. Generates foreground (close obstacles) and background (far obstacles) layers - * - * Graph nodes are added based on distance/angle thresholds to maintain - * recent obstacle history for robust collision checking. - */ -void GLInterface::handle_disparity(const stereo_msgs::msg::DisparityImage::SharedPtr msg) -{ - if (!gl_inited) - return; - static std::vector times; - int times_limit = 10; - - // udpate graph - GraphNode graph_node; - try - { - geometry_msgs::msg::TransformStamped t; - t = tf_buffer->lookupTransform(target_frame, msg->header.frame_id, - tf2::TimePointZero); - tf2::fromMsg(t, graph_node.tf); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR_THROTTLE(node->get_logger(), *(node->get_clock()), 1000, "Transform exception in handle_disparity: %s", ex.what()); - return; - } - - if ((graph.size() < 2) || - ((graph_node.tf.getOrigin().distance(graph[1].tf.getOrigin()) > graph_distance_threshold) || (tf2::angleShortestPath(graph_node.tf.getRotation(), graph[1].tf.getRotation()) > graph_angle_threshold))) - { - current_node = (current_node + 1) % graph_nodes; - - if (graph.size() < graph_nodes) - { - graph_node.fg_index = graph.size() * 2; - graph_node.bg_index = graph.size() * 2 + 1; - graph.push_front(graph_node); - } - else - { - graph_node.fg_index = graph.back().fg_index; - graph_node.bg_index = graph.back().bg_index; - graph.pop_back(); - graph.push_front(graph_node); - } - } - else - { - graph_node.fg_index = graph.front().fg_index; - graph_node.bg_index = graph.front().bg_index; - graph.front().tf = graph_node.tf; - } - // upload disparity - cv::Mat disp; - if (msg->image.encoding == "32FC1") - disp = cv::Mat(msg->image.height, msg->image.width, CV_32FC1, &msg->image.data[0], msg->image.step); - else - disp = cv_bridge::toCvCopy(msg->image, "32FC1")->image; - // disp = 0.f; - // disp.at((int)(disp.rows/2), (int)(disp.cols/2)) = 2.f; - glBindTexture(GL_TEXTURE_2D, texIn); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, disp.cols, disp.rows, GL_RED, GL_FLOAT, disp.ptr()); - glBindTexture(GL_TEXTURE_2D, 0); - - // clear images - GLint zero_int = 0; - GLint max_int = std::numeric_limits::max(); - glClearTexImage(fgHoriz, 0, GL_RED_INTEGER, GL_INT, &zero_int); - glClearTexSubImage(fgFinal, 0, 0, 0, 2 * current_node, image_width, image_height, 1, GL_RED_INTEGER, GL_INT, &zero_int); - glClearTexSubImage(fgFinal, 0, 0, 0, 2 * current_node + 1, image_width, image_height, 1, GL_RED_INTEGER, GL_INT, &max_int); - - int work_group_size_x = 16; - int work_group_size_y = 16; - - glBindImageTexture(0, fgHoriz, 0, GL_FALSE, 0, GL_READ_WRITE, GL_R32I); - glBindImageTexture(1, fgFinal, 0, GL_TRUE, 0, GL_READ_WRITE, GL_R32I); - glBindImageTexture(2, texIn, 0, GL_FALSE, 0, GL_READ_ONLY, GL_R32F); - - // foreground - // horizontal pass - glUseProgram(horizProg_); - glUniform1i(glGetUniformLocation(horizProg_, "layer"), 2 * current_node); - glUniform1i(glGetUniformLocation(horizProg_, "is_fg"), true); - gl_tic(); - glDispatchCompute((image_width + work_group_size_x - 1) / work_group_size_x, - (image_height + work_group_size_y - 1) / work_group_size_y, 1); - float fg_horizontal_elapsed = gl_toc(); - glMemoryBarrier(GL_ALL_BARRIER_BITS); - - // vertical pass - glUseProgram(vertProg_); - glUniform1i(glGetUniformLocation(vertProg_, "layer"), 2 * current_node); - glUniform1i(glGetUniformLocation(vertProg_, "is_fg"), true); - gl_tic(); - glDispatchCompute((image_width + work_group_size_x - 1) / work_group_size_x, - (image_height + work_group_size_y - 1) / work_group_size_y, 1); - float fg_vertical_elapsed = gl_toc(); - - // background - glClearTexImage(fgHoriz, 0, GL_RED_INTEGER, GL_INT, &max_int); - // horizontal pass - glUseProgram(horizProg_); - glUniform1i(glGetUniformLocation(horizProg_, "layer"), 2 * current_node + 1); - glUniform1i(glGetUniformLocation(horizProg_, "is_fg"), false); - gl_tic(); - glDispatchCompute((image_width + work_group_size_x - 1) / work_group_size_x, - (image_height + work_group_size_y - 1) / work_group_size_y, 1); - float bg_horizontal_elapsed = gl_toc(); - glMemoryBarrier(GL_ALL_BARRIER_BITS); - - // vertical pass - glUseProgram(vertProg_); - glUniform1i(glGetUniformLocation(vertProg_, "layer"), 2 * current_node + 1); - glUniform1i(glGetUniformLocation(vertProg_, "is_fg"), false); - gl_tic(); - glDispatchCompute((image_width + work_group_size_x - 1) / work_group_size_x, (image_height + work_group_size_y - 1) / work_group_size_y, 1); - float bg_vertical_elapsed = gl_toc(); - - // timing - float total_time = fg_horizontal_elapsed + fg_vertical_elapsed + bg_horizontal_elapsed + bg_vertical_elapsed; - times.push_back(total_time); - if (times.size() > times_limit) - times.erase(times.begin()); - float average_time = 0; - for (int i = 0; i < times.size(); i++) - average_time += times[i]; - average_time /= times.size(); - static int iteration = 0; - iteration++; - // RCLCPP_INFO(node->get_logger(), "iteration: %d h v times: %.3f ms, %.3f ms, %.3f ms, %.3f ms, %.3f ms, %.3f ms", - // iteration, fg_horizontal_elapsed, fg_vertical_elapsed, bg_horizontal_elapsed, bg_vertical_elapsed, total_time, average_time); - glMemoryBarrier(GL_ALL_BARRIER_BITS); -} - -/** - * @brief Publish visualization of expanded disparity and graph nodes - * @param hdr Header for timestamp and frame information - * @param fg_pub Publisher for foreground expanded image - * @param bg_pub Publisher for background expanded image - * @param fg_bg_cloud_pub Publisher for 3D point cloud visualization - * @param marker_pub Publisher for camera pose markers - * - * Generates visualizations of: - * - Expanded foreground/background disparity images - * - 3D point cloud of expanded obstacles from all graph nodes - * - Camera pose arrows showing graph node locations - */ -void GLInterface::publish_viz(const std_msgs::msg::Header &hdr, - rclcpp::Publisher::SharedPtr fg_pub, - rclcpp::Publisher::SharedPtr bg_pub, - rclcpp::Publisher::SharedPtr fg_bg_cloud_pub, - rclcpp::Publisher::SharedPtr marker_pub) -{ - if (!gl_inited) - return; - pcl::PointCloud fg_bg_cloud; - - std::vector data(image_width * image_height * total_layers); - glBindTexture(GL_TEXTURE_2D_ARRAY, fgFinal); - glGetTexImage(GL_TEXTURE_2D_ARRAY, 0, GL_RED_INTEGER, GL_INT, data.data()); - - for (int i = 0; i < graph.size(); i++) - { - const GraphNode &graph_node = graph[i]; - cv::Mat image(image_height, image_width, CV_32S, data.data() + graph_node.fg_index * image_width * image_height); - - if (i == current_node) - { - cv::Mat image_f; - image.convertTo(image_f, CV_32F, 1. / scale); - auto fg_msg = cv_bridge::CvImage(hdr, "32FC1", image_f).toImageMsg(); - fg_pub->publish(*fg_msg); - } - - pcl::PointXYZI p; - for (int y = 0; y < image.rows; y++) - { - for (int x = 0; x < image.cols; x++) - { - float disp = ((float)image.at(y, x)) / scale; - float depth = baseline * fx / disp; - tf2::Vector3 v((x - cx) * depth / fx, (y - cy) * depth / fy, depth); - tf2::Vector3 v_world = graph_node.tf * v; - p.x = v_world.x(); - p.y = v_world.y(); - p.z = v_world.z(); - p.intensity = graph_node.fg_index; - - if (disp > 0.f && std::isfinite(disp)) - fg_bg_cloud.points.push_back(p); - } - } - - image = cv::Mat(image_height, image_width, CV_32S, data.data() + graph_node.bg_index * image_width * image_height); - - if (i == current_node) - { - cv::Mat image_f; - image.convertTo(image_f, CV_32F, 1. / scale); - auto bg_msg = cv_bridge::CvImage(hdr, "32FC1", image_f).toImageMsg(); - bg_pub->publish(*bg_msg); - } - - for (int y = 0; y < image.rows; y++) - { - for (int x = 0; x < image.cols; x++) - { - float disp = ((float)image.at(y, x)) / scale; - float depth = baseline * fx / disp; - tf2::Vector3 v((x - cx) * depth / fx, (y - cy) * depth / fy, depth); - tf2::Vector3 v_world = graph_node.tf * v; - p.x = v_world.x(); - p.y = v_world.y(); - p.z = v_world.z(); - p.intensity = 3 * graph_nodes + graph_node.bg_index; - - if (disp > 0.f && std::isfinite(disp)) - fg_bg_cloud.points.push_back(p); - } - } - } - - graph_markers.overwrite(); - for (int i = 0; i < graph.size(); i++) - { - GraphNode &graph_node = graph[i]; - geometry_msgs::msg::Pose pose; - pose.position.x = graph_node.tf.getOrigin().x(); - pose.position.y = graph_node.tf.getOrigin().y(); - pose.position.z = graph_node.tf.getOrigin().z(); - tf2::Quaternion rot; - rot.setRPY(0, -M_PI_2, 0); - tf2::Quaternion q = graph_node.tf.getRotation() * rot; - pose.orientation.x = q.x(); - pose.orientation.y = q.y(); - pose.orientation.z = q.z(); - pose.orientation.w = q.w(); - vis::Marker &arrow = graph_markers.add_arrow(target_frame, hdr.stamp, pose); - arrow.set_color(0., 1., 0.); - } - marker_pub->publish(graph_markers.get_marker_array()); - - sensor_msgs::msg::PointCloud2 output; - pcl::toROSMsg(fg_bg_cloud, output); - output.header = hdr; - output.header.frame_id = target_frame; - fg_bg_cloud_pub->publish(output); -} - -/** - * @brief Generate and evaluate trajectories using GPU - * @param look_ahead Odometry of the look-ahead planning point - * @param trajectory_points Output vector of trajectory points with collision info - * @param look_ahead_to_target_tf Output transform from look-ahead frame to target frame - * - * Executes GPU-based trajectory generation and collision checking: - * 1. Transforms look-ahead position to target frame - * 2. Generates trajectory library using snap dynamics (GPU compute shader) - * 3. Checks all trajectories against all graph nodes for collisions (GPU) - * 4. Returns trajectory points with collision status for each graph node - * - * Trajectory points contain position, velocity, and counts of seen/unseen/collision nodes. - */ -void GLInterface::evaluate_trajectories(const airstack_msgs::msg::Odometry &look_ahead, std::vector &trajectory_points, tf2::Transform &look_ahead_to_target_tf) -{ - if (!gl_inited) - return; - - // transform look ahead - airstack_msgs::msg::Odometry look_ahead_odom; - if (!tflib::transform_odometry(tf_buffer, look_ahead, look_ahead_frame, look_ahead_frame, &look_ahead_odom)) - return; - tf2::Stamped look_ahead_tf; - try - { - geometry_msgs::msg::TransformStamped t; - t = tf_buffer->lookupTransform(target_frame, look_ahead_frame, - tf2::TimePointZero); - tf2::fromMsg(t, look_ahead_tf); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR_THROTTLE(node->get_logger(), *(node->get_clock()), 1000, "Transform exception in evaluate_trajectories: %s", ex.what()); - return; - } - look_ahead_to_target_tf = look_ahead_tf.inverse(); - - glMemoryBarrier(GL_ALL_BARRIER_BITS); - - // trajectory generation - glUseProgram(traj_shader); - - glBindBuffer(GL_UNIFORM_BUFFER, common_ubo); - State *ptr = (State *)glMapBufferRange(GL_UNIFORM_BUFFER, 0, sizeof(State), - GL_MAP_WRITE_BIT | GL_MAP_INVALIDATE_BUFFER_BIT); - - *ptr = State(look_ahead_odom); - glUnmapBuffer(GL_UNIFORM_BUFFER); - - glBindBufferBase(GL_UNIFORM_BUFFER, 0, common_ubo); - glBindBufferBase(GL_SHADER_STORAGE_BUFFER, 1, params_ssbo); - glBindBufferBase(GL_SHADER_STORAGE_BUFFER, 2, traj_ssbo); - - gl_tic(); - glDispatchCompute((traj_params.size() + 255) / 256, 1, 1); - float traj_gen_elapsed = gl_toc(); - static int iteration = 0; - iteration++; - // RCLCPP_INFO_STREAM(node->get_logger(), "iteration: " << iteration << " TRAJ GEN TIMING: " << traj_gen_elapsed); - glMemoryBarrier(GL_ALL_BARRIER_BITS); - - // collision checking - glUseProgram(collision_shader); - glBindBufferBase(GL_SHADER_STORAGE_BUFFER, 1, traj_ssbo); - glBindBufferBase(GL_SHADER_STORAGE_BUFFER, 2, transform_ssbo); - - // TODO do this only when one is updated, probably in the function where they get updated - // TODO see if mapping a smaller region, ie only the updated mat4, is better - glBindBuffer(GL_SHADER_STORAGE_BUFFER, transform_ssbo); - mat4 *transform_ptr = (mat4 *)glMapBufferRange(GL_SHADER_STORAGE_BUFFER, 0, - graph_nodes * sizeof(mat4), - GL_MAP_WRITE_BIT | GL_MAP_INVALIDATE_BUFFER_BIT); - for (int i = 0; i < std::min(graph_nodes, (int)graph.size()); i++) - transform_ptr[graph[i].fg_index / 2] = mat4(graph[i].tf.inverse()); - glUnmapBuffer(GL_SHADER_STORAGE_BUFFER); - - mat4 look_ahead_mat4(look_ahead_tf); - glUniformMatrix4fv(glGetUniformLocation(collision_shader, "state_tf"), 1, GL_FALSE, (float *)&look_ahead_mat4); - glUniform1i(glGetUniformLocation(collision_shader, "graph_nodes"), graph.size()); - - glBindImageTexture(0, fgFinal, 0, GL_TRUE, 0, GL_READ_WRITE, GL_R32I); - - gl_tic(); - glDispatchCompute((traj_params.size() * get_traj_size() + 255) / 256, 1, 1); - float traj_collision_check_elapsed = gl_toc(); - // RCLCPP_INFO_STREAM(node->get_logger(), "TRAJ COLLISION CHECK TIMING: " << traj_collision_check_elapsed); - glMemoryBarrier(GL_ALL_BARRIER_BITS); - - // trajectory visualization - glBindBuffer(GL_SHADER_STORAGE_BUFFER, traj_ssbo); - TrajectoryPoint *output_data = (TrajectoryPoint *)glMapBuffer(GL_SHADER_STORAGE_BUFFER, GL_READ_ONLY); - trajectory_points.resize(traj_params.size() * get_traj_size()); - memcpy(trajectory_points.data(), output_data, trajectory_points.size() * sizeof(TrajectoryPoint)); - glUnmapBuffer(GL_SHADER_STORAGE_BUFFER); -} - -/** - * @brief Get the number of trajectory points per trajectory - * @return Number of discrete points along each trajectory - * - * Calculated as horizon time divided by time step. - */ -int GLInterface::get_traj_size() -{ - return ht / dt; // * 5; -} - -/** - * @brief Check for OpenGL errors and log to console - * - * Utility function for debugging OpenGL operations. - */ -void GLInterface::check_gl_error() -{ - GLenum e = glGetError(); - if (e != GL_NO_ERROR) - RCLCPP_INFO(node->get_logger(), "GL error: 0x%x", e); - else - RCLCPP_INFO(node->get_logger(), "GL error: ok"); -} - -/** - * @brief Start GPU timing query - * - * Begins timing of subsequent GPU operations using OpenGL queries. - */ -void GLInterface::gl_tic() -{ - glBeginQuery(GL_TIME_ELAPSED, elapsed_query); -} - -/** - * @brief End GPU timing query and return elapsed time - * @return Elapsed time in milliseconds - * - * Completes timing query and returns GPU execution time. - */ -float GLInterface::gl_toc() -{ - glEndQuery(GL_TIME_ELAPSED); - GLuint64 elapsed_ns = 0; - glGetQueryObjectui64v(elapsed_query, GL_QUERY_RESULT, &elapsed_ns); - float elapsed_ms = elapsed_ns / 1e6; - return elapsed_ms; -} - -/** - * @brief Initialize OpenGL context and GPU resources - * @param original_width Original width of input disparity images - * @param original_height Original height of input disparity images - * @param downsampled_width Downsampled width for processing - * @param downsampled_height Downsampled height for processing - * - * Initializes: - * - OpenGL context (EGL or GLFW) - * - Trajectory library parameters (pitch/yaw combinations) - * - Compute shaders for disparity expansion, trajectory generation, and collision checking - * - GPU textures and buffers for disparity data and trajectories - * - Uniform buffers for camera intrinsics and trajectory parameters - */ -void GLInterface::initGL(int original_width, int original_height, int downsampled_width, int downsampled_height) -{ - if (!glfwInit()) - { - static const EGLint configAttribs[] = { - EGL_SURFACE_TYPE, EGL_PBUFFER_BIT, - EGL_BLUE_SIZE, 8, - EGL_GREEN_SIZE, 8, - EGL_RED_SIZE, 8, - EGL_DEPTH_SIZE, 24, - EGL_RENDERABLE_TYPE, EGL_OPENGL_BIT, - EGL_NONE}; - - static const EGLint pbufferAttribs[] = { - EGL_WIDTH, - image_width, - EGL_HEIGHT, - image_height, - EGL_NONE, - }; - EGLDisplay eglDpy = eglGetDisplay(EGL_DEFAULT_DISPLAY); - EGLint major, minor; - eglInitialize(eglDpy, &major, &minor); - EGLint numConfigs; - EGLConfig eglCfg; - eglChooseConfig(eglDpy, configAttribs, &eglCfg, 1, &numConfigs); - EGLSurface eglSurf = eglCreatePbufferSurface(eglDpy, eglCfg, - pbufferAttribs); - eglBindAPI(EGL_OPENGL_API); - EGLContext eglCtx = eglCreateContext(eglDpy, eglCfg, EGL_NO_CONTEXT, - NULL); - eglMakeCurrent(eglDpy, eglSurf, eglSurf, eglCtx); - if (!gladLoadGLLoader((GLADloadproc)eglGetProcAddress)) - std::cout << "Failed to initialize GLAD!" << std::endl; - } - else - { - glfwWindowHint(GLFW_VISIBLE, GLFW_FALSE); - window_ = glfwCreateWindow(640, 480, "Offscreen", nullptr, nullptr); - glfwMakeContextCurrent(window_); - gladLoadGLLoader((GLADloadproc)glfwGetProcAddress); - } - - // for(float p = -90.f; p < 90.f + 1.f; p += 5.f){ - // for(float y = 0.f; y < 360.f; y += 5.f){ - for (float p = -30.f; p < 31.f; p += 15.f) - { - for (float y = 0.f; y < 360.f; y += 15.f) - { - float yaw = y * M_PI / 180.f; - float pitch = p * M_PI / 180.f; - - TrajectoryParams params; - params.vel_desired[0] = sin(yaw); - params.vel_desired[1] = cos(yaw); - params.vel_desired[2] = sin(pitch); // 0.f; - params.vel_max = 2.f; - - traj_params.push_back(params); - } - } - - GLint maxWorkGroupCount[3]; - GLint maxWorkGroupSize[3]; - GLint maxInvocations; - - glGetIntegeri_v(GL_MAX_COMPUTE_WORK_GROUP_COUNT, 0, &maxWorkGroupCount[0]); - glGetIntegeri_v(GL_MAX_COMPUTE_WORK_GROUP_COUNT, 1, &maxWorkGroupCount[1]); - glGetIntegeri_v(GL_MAX_COMPUTE_WORK_GROUP_COUNT, 2, &maxWorkGroupCount[2]); - - glGetIntegeri_v(GL_MAX_COMPUTE_WORK_GROUP_SIZE, 0, &maxWorkGroupSize[0]); - glGetIntegeri_v(GL_MAX_COMPUTE_WORK_GROUP_SIZE, 1, &maxWorkGroupSize[1]); - glGetIntegeri_v(GL_MAX_COMPUTE_WORK_GROUP_SIZE, 2, &maxWorkGroupSize[2]); - - glGetIntegerv(GL_MAX_COMPUTE_WORK_GROUP_INVOCATIONS, &maxInvocations); - - std::cout << "Max work group count: " - << maxWorkGroupCount[0] << ", " - << maxWorkGroupCount[1] << ", " - << maxWorkGroupCount[2] << std::endl; - - std::cout << "Max work group size: " - << maxWorkGroupSize[0] << ", " - << maxWorkGroupSize[1] << ", " - << maxWorkGroupSize[2] << std::endl; - - std::cout << "Max total invocations per group: " - << maxInvocations << std::endl; - - std::cout << "Renderer: " << glGetString(GL_RENDERER) << std::endl; - std::cout << "Vendor: " << glGetString(GL_VENDOR) << std::endl; - std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl; - std::cout << "GLSL version: " << glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl; - - glGenQueries(1, &elapsed_query); - - horizProg_ = createComputeShader(ament_index_cpp::get_package_share_directory("droan_gl") + "/shaders/disparity_expand_horizontal.cs"); - vertProg_ = createComputeShader(ament_index_cpp::get_package_share_directory("droan_gl") + "/shaders/disparity_expand_vertical.cs"); - - glUseProgram(horizProg_); - glUniform1f(glGetUniformLocation(horizProg_, "baseline"), baseline); - glUniform1f(glGetUniformLocation(horizProg_, "fx"), fx); - glUniform1f(glGetUniformLocation(horizProg_, "fy"), fy); - glUniform1f(glGetUniformLocation(horizProg_, "cx"), cx); - glUniform1f(glGetUniformLocation(horizProg_, "cy"), cy); - glUniform1f(glGetUniformLocation(horizProg_, "expansion_radius"), expansion_radius); - glUniform1f(glGetUniformLocation(horizProg_, "discontinuityThresh"), 1.0f); - glUniform1f(glGetUniformLocation(horizProg_, "scale"), scale); - glUniform1i(glGetUniformLocation(horizProg_, "downsample_scale"), downsample_scale); - - glUseProgram(vertProg_); - glUniform1f(glGetUniformLocation(vertProg_, "baseline"), baseline); - glUniform1f(glGetUniformLocation(vertProg_, "fx"), fx); - glUniform1f(glGetUniformLocation(vertProg_, "fy"), fy); - glUniform1f(glGetUniformLocation(vertProg_, "cx"), cx); - glUniform1f(glGetUniformLocation(vertProg_, "cy"), cy); - glUniform1f(glGetUniformLocation(vertProg_, "expansion_radius"), expansion_radius); - glUniform1f(glGetUniformLocation(vertProg_, "discontinuityThresh"), 1.0f); - glUniform1f(glGetUniformLocation(vertProg_, "scale"), scale); - glUniform1i(glGetUniformLocation(vertProg_, "downsample_scale"), downsample_scale); - - std::string traj_comp_filename = ament_index_cpp::get_package_share_directory("droan_gl") + "/shaders/trajectory.cs"; - traj_shader = createComputeShader(traj_comp_filename); - - std::string collision_comp_filename = ament_index_cpp::get_package_share_directory("droan_gl") + "/shaders/collision.cs"; - collision_shader = createComputeShader(collision_comp_filename); - - std::string traj_collision_comp_filename = ament_index_cpp::get_package_share_directory("droan_gl") + "/shaders/traj_collision.cs"; - traj_collision_shader = createComputeShader(traj_collision_comp_filename); - - glUseProgram(collision_shader); - glUniform1f(glGetUniformLocation(collision_shader, "fx"), fx); - glUniform1f(glGetUniformLocation(collision_shader, "fy"), fy); - glUniform1f(glGetUniformLocation(collision_shader, "cx"), cx); - glUniform1f(glGetUniformLocation(collision_shader, "cy"), cy); - glUniform1f(glGetUniformLocation(collision_shader, "baseline"), baseline); - glUniform1i(glGetUniformLocation(collision_shader, "width"), image_width); - glUniform1i(glGetUniformLocation(collision_shader, "height"), image_height); - glUniform1i(glGetUniformLocation(collision_shader, "limit"), traj_params.size() * get_traj_size()); - glUniform1f(glGetUniformLocation(collision_shader, "scale"), scale); - glUniform1f(glGetUniformLocation(collision_shader, "expansion_radius"), expansion_radius); - - RCLCPP_INFO_STREAM(node->get_logger(), "traj info: " << traj_params.size() << " " << get_traj_size() << " " << dt); - glUseProgram(traj_shader); - glUniform1i(glGetUniformLocation(traj_shader, "traj_count"), traj_params.size()); - glUniform1i(glGetUniformLocation(traj_shader, "traj_size"), get_traj_size()); - glUniform1f(glGetUniformLocation(traj_shader, "dt"), dt); - glUniform1f(glGetUniformLocation(traj_shader, "seen_radius"), seen_radius); - glUseProgram(0); - - glGenTextures(1, &texIn); - glBindTexture(GL_TEXTURE_2D, texIn); - glTexStorage2D(GL_TEXTURE_2D, 1, GL_R32F, original_width, original_height); - - std::vector zeros(image_width * image_height, 0); - std::vector maxv(image_width * image_height, std::numeric_limits::max()); - glGenTextures(1, &fgHoriz); - glBindTexture(GL_TEXTURE_2D, fgHoriz); - glTexStorage2D(GL_TEXTURE_2D, 1, GL_R32I, image_width, image_height); - - glGenTextures(1, &bgHoriz); - glBindTexture(GL_TEXTURE_2D, bgHoriz); - glTexStorage2D(GL_TEXTURE_2D, 1, GL_R32I, image_width, image_height); - - glGenTextures(1, &fgFinal); - glBindTexture(GL_TEXTURE_2D_ARRAY, fgFinal); - glTexStorage3D(GL_TEXTURE_2D_ARRAY, 1, GL_R32I, image_width, image_height, total_layers); - - glGenTextures(1, &bgFinal); - glBindTexture(GL_TEXTURE_2D, bgFinal); - glTexStorage2D(GL_TEXTURE_2D, 1, GL_R32I, image_width, image_height); - - glGenBuffers(1, &common_ubo); - glBindBuffer(GL_UNIFORM_BUFFER, common_ubo); - glBufferData(GL_UNIFORM_BUFFER, sizeof(CommonInit), nullptr, GL_DYNAMIC_DRAW); - - glGenBuffers(1, ¶ms_ssbo); - glBindBuffer(GL_SHADER_STORAGE_BUFFER, params_ssbo); - glBufferData(GL_SHADER_STORAGE_BUFFER, traj_params.size() * sizeof(TrajectoryParams), traj_params.data(), GL_STATIC_DRAW); - - glGenBuffers(1, &traj_ssbo); - glBindBuffer(GL_SHADER_STORAGE_BUFFER, traj_ssbo); - glBufferData(GL_SHADER_STORAGE_BUFFER, traj_params.size() * get_traj_size() * sizeof(TrajectoryPoint), nullptr, GL_DYNAMIC_COPY); - - glGenBuffers(1, &transform_ssbo); - glBindBuffer(GL_SHADER_STORAGE_BUFFER, transform_ssbo); - glBufferData(GL_SHADER_STORAGE_BUFFER, graph_nodes * sizeof(mat4), nullptr, GL_DYNAMIC_COPY); - - glGenBuffers(1, &collision_info_ubo); - glBindBuffer(GL_UNIFORM_BUFFER, collision_info_ubo); - glBufferData(GL_UNIFORM_BUFFER, sizeof(CollisionInfo), nullptr, GL_DYNAMIC_DRAW); - - gl_inited = true; -} - -/** - * @brief Compile and link an OpenGL compute shader from file - * @param file Path to compute shader source file - * @return OpenGL program handle - * - * Loads, compiles, and links a compute shader program. Logs any - * compilation or linking errors. - */ -GLuint GLInterface::createComputeShader(const std::string &file) -{ - std::ifstream f(file); - std::string src((std::istreambuf_iterator(f)), std::istreambuf_iterator()); - const char *c = src.c_str(); - - RCLCPP_INFO_STREAM(node->get_logger(), file); - - GLuint s = glCreateShader(GL_COMPUTE_SHADER); - glShaderSource(s, 1, &c, nullptr); - glCompileShader(s); - GLint ok; - glGetShaderiv(s, GL_COMPILE_STATUS, &ok); - if (!ok) - { - char log[1024]; - glGetShaderInfoLog(s, 1024, nullptr, log); - RCLCPP_ERROR(node->get_logger(), "Shader compile error: %s", log); - } - GLuint p = glCreateProgram(); - glAttachShader(p, s); - glLinkProgram(p); - - GLint success = 0; - glGetProgramiv(p, GL_LINK_STATUS, &success); - if (!success) - { - GLchar info[1024]; - glGetProgramInfoLog(p, sizeof(info), NULL, info); - std::cerr << "Link failed: " << info << std::endl; - } - - glDeleteShader(s); - return p; -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/src/glad/src/glad.c b/robot/ros_ws/src/local/planners/droan_gl/src/glad/src/glad.c deleted file mode 100644 index e3f6b6c5d..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/src/glad/src/glad.c +++ /dev/null @@ -1,1914 +0,0 @@ -/* - - OpenGL loader generated by glad 0.1.36 on Thu Nov 6 15:37:11 2025. - - Language/Generator: C/C++ - Specification: gl - APIs: gl=4.6 - Profile: core - Extensions: - - Loader: True - Local files: False - Omit khrplatform: False - Reproducible: False - - Commandline: - --profile="core" --api="gl=4.6" --generator="c" --spec="gl" --extensions="" - Online: - https://glad.dav1d.de/#profile=core&language=c&specification=gl&loader=on&api=gl%3D4.6 -*/ - -#include -#include -#include -#include - -static void *get_proc(const char *namez); - -#if defined(_WIN32) || defined(__CYGWIN__) -#ifndef _WINDOWS_ -#undef APIENTRY -#endif -#include -static HMODULE libGL; - -typedef void *(APIENTRYP PFNWGLGETPROCADDRESSPROC_PRIVATE)(const char *); -static PFNWGLGETPROCADDRESSPROC_PRIVATE gladGetProcAddressPtr; - -#ifdef _MSC_VER -#ifdef __has_include -#if __has_include() -#define HAVE_WINAPIFAMILY 1 -#endif -#elif _MSC_VER >= 1700 && !_USING_V110_SDK71_ -#define HAVE_WINAPIFAMILY 1 -#endif -#endif - -#ifdef HAVE_WINAPIFAMILY -#include -#if !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP) && WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) -#define IS_UWP 1 -#endif -#endif - -static int open_gl(void) -{ -#ifndef IS_UWP - libGL = LoadLibraryW(L"opengl32.dll"); - if (libGL != NULL) - { - void (*tmp)(void); - tmp = (void (*)(void))GetProcAddress(libGL, "wglGetProcAddress"); - gladGetProcAddressPtr = (PFNWGLGETPROCADDRESSPROC_PRIVATE)tmp; - return gladGetProcAddressPtr != NULL; - } -#endif - - return 0; -} - -static void close_gl(void) -{ - if (libGL != NULL) - { - FreeLibrary((HMODULE)libGL); - libGL = NULL; - } -} -#else -#include -static void *libGL; - -#if !defined(__APPLE__) && !defined(__HAIKU__) -typedef void *(APIENTRYP PFNGLXGETPROCADDRESSPROC_PRIVATE)(const char *); -static PFNGLXGETPROCADDRESSPROC_PRIVATE gladGetProcAddressPtr; -#endif - -static int open_gl(void) -{ -#ifdef __APPLE__ - static const char *NAMES[] = { - "../Frameworks/OpenGL.framework/OpenGL", - "/Library/Frameworks/OpenGL.framework/OpenGL", - "/System/Library/Frameworks/OpenGL.framework/OpenGL", - "/System/Library/Frameworks/OpenGL.framework/Versions/Current/OpenGL"}; -#else - static const char *NAMES[] = {"libGL.so.1", "libGL.so"}; -#endif - - unsigned int index = 0; - for (index = 0; index < (sizeof(NAMES) / sizeof(NAMES[0])); index++) - { - libGL = dlopen(NAMES[index], RTLD_NOW | RTLD_GLOBAL); - - if (libGL != NULL) - { -#if defined(__APPLE__) || defined(__HAIKU__) - return 1; -#else - gladGetProcAddressPtr = (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(libGL, - "glXGetProcAddressARB"); - return gladGetProcAddressPtr != NULL; -#endif - } - } - - return 0; -} - -static void close_gl(void) -{ - if (libGL != NULL) - { - dlclose(libGL); - libGL = NULL; - } -} -#endif - -static void *get_proc(const char *namez) -{ - void *result = NULL; - if (libGL == NULL) - return NULL; - -#if !defined(__APPLE__) && !defined(__HAIKU__) - if (gladGetProcAddressPtr != NULL) - { - result = gladGetProcAddressPtr(namez); - } -#endif - if (result == NULL) - { -#if defined(_WIN32) || defined(__CYGWIN__) - result = (void *)GetProcAddress((HMODULE)libGL, namez); -#else - result = dlsym(libGL, namez); -#endif - } - - return result; -} - -int gladLoadGL(void) -{ - int status = 0; - - if (open_gl()) - { - status = gladLoadGLLoader(&get_proc); - close_gl(); - } - - return status; -} - -struct gladGLversionStruct GLVersion = {0, 0}; - -#if defined(GL_ES_VERSION_3_0) || defined(GL_VERSION_3_0) -#define _GLAD_IS_SOME_NEW_VERSION 1 -#endif - -static int max_loaded_major; -static int max_loaded_minor; - -static const char *exts = NULL; -static int num_exts_i = 0; -static char **exts_i = NULL; - -static int get_exts(void) -{ -#ifdef _GLAD_IS_SOME_NEW_VERSION - if (max_loaded_major < 3) - { -#endif - exts = (const char *)glGetString(GL_EXTENSIONS); -#ifdef _GLAD_IS_SOME_NEW_VERSION - } - else - { - int index; - - num_exts_i = 0; - glGetIntegerv(GL_NUM_EXTENSIONS, &num_exts_i); - if (num_exts_i > 0) - { - exts_i = (char **)malloc((size_t)num_exts_i * (sizeof *exts_i)); - } - - if (exts_i == NULL) - { - return 0; - } - - for (index = 0; index < num_exts_i; index++) - { - const char *gl_str_tmp = (const char *)glGetStringi(GL_EXTENSIONS, index); - size_t len = strlen(gl_str_tmp); - - char *local_str = (char *)malloc((len + 1) * sizeof(char)); - if (local_str != NULL) - { - memcpy(local_str, gl_str_tmp, (len + 1) * sizeof(char)); - } - exts_i[index] = local_str; - } - } -#endif - return 1; -} - -static void free_exts(void) -{ - if (exts_i != NULL) - { - int index; - for (index = 0; index < num_exts_i; index++) - { - free((char *)exts_i[index]); - } - free((void *)exts_i); - exts_i = NULL; - } -} - -static int has_ext(const char *ext) -{ -#ifdef _GLAD_IS_SOME_NEW_VERSION - if (max_loaded_major < 3) - { -#endif - const char *extensions; - const char *loc; - const char *terminator; - extensions = exts; - if (extensions == NULL || ext == NULL) - { - return 0; - } - - while (1) - { - loc = strstr(extensions, ext); - if (loc == NULL) - { - return 0; - } - - terminator = loc + strlen(ext); - if ((loc == extensions || *(loc - 1) == ' ') && - (*terminator == ' ' || *terminator == '\0')) - { - return 1; - } - extensions = terminator; - } -#ifdef _GLAD_IS_SOME_NEW_VERSION - } - else - { - int index; - if (exts_i == NULL) - return 0; - for (index = 0; index < num_exts_i; index++) - { - const char *e = exts_i[index]; - - if (exts_i[index] != NULL && strcmp(e, ext) == 0) - { - return 1; - } - } - } -#endif - - return 0; -} -int GLAD_GL_VERSION_1_0 = 0; -int GLAD_GL_VERSION_1_1 = 0; -int GLAD_GL_VERSION_1_2 = 0; -int GLAD_GL_VERSION_1_3 = 0; -int GLAD_GL_VERSION_1_4 = 0; -int GLAD_GL_VERSION_1_5 = 0; -int GLAD_GL_VERSION_2_0 = 0; -int GLAD_GL_VERSION_2_1 = 0; -int GLAD_GL_VERSION_3_0 = 0; -int GLAD_GL_VERSION_3_1 = 0; -int GLAD_GL_VERSION_3_2 = 0; -int GLAD_GL_VERSION_3_3 = 0; -int GLAD_GL_VERSION_4_0 = 0; -int GLAD_GL_VERSION_4_1 = 0; -int GLAD_GL_VERSION_4_2 = 0; -int GLAD_GL_VERSION_4_3 = 0; -int GLAD_GL_VERSION_4_4 = 0; -int GLAD_GL_VERSION_4_5 = 0; -int GLAD_GL_VERSION_4_6 = 0; -PFNGLACTIVESHADERPROGRAMPROC glad_glActiveShaderProgram = NULL; -PFNGLACTIVETEXTUREPROC glad_glActiveTexture = NULL; -PFNGLATTACHSHADERPROC glad_glAttachShader = NULL; -PFNGLBEGINCONDITIONALRENDERPROC glad_glBeginConditionalRender = NULL; -PFNGLBEGINQUERYPROC glad_glBeginQuery = NULL; -PFNGLBEGINQUERYINDEXEDPROC glad_glBeginQueryIndexed = NULL; -PFNGLBEGINTRANSFORMFEEDBACKPROC glad_glBeginTransformFeedback = NULL; -PFNGLBINDATTRIBLOCATIONPROC glad_glBindAttribLocation = NULL; -PFNGLBINDBUFFERPROC glad_glBindBuffer = NULL; -PFNGLBINDBUFFERBASEPROC glad_glBindBufferBase = NULL; -PFNGLBINDBUFFERRANGEPROC glad_glBindBufferRange = NULL; -PFNGLBINDBUFFERSBASEPROC glad_glBindBuffersBase = NULL; -PFNGLBINDBUFFERSRANGEPROC glad_glBindBuffersRange = NULL; -PFNGLBINDFRAGDATALOCATIONPROC glad_glBindFragDataLocation = NULL; -PFNGLBINDFRAGDATALOCATIONINDEXEDPROC glad_glBindFragDataLocationIndexed = NULL; -PFNGLBINDFRAMEBUFFERPROC glad_glBindFramebuffer = NULL; -PFNGLBINDIMAGETEXTUREPROC glad_glBindImageTexture = NULL; -PFNGLBINDIMAGETEXTURESPROC glad_glBindImageTextures = NULL; -PFNGLBINDPROGRAMPIPELINEPROC glad_glBindProgramPipeline = NULL; -PFNGLBINDRENDERBUFFERPROC glad_glBindRenderbuffer = NULL; -PFNGLBINDSAMPLERPROC glad_glBindSampler = NULL; -PFNGLBINDSAMPLERSPROC glad_glBindSamplers = NULL; -PFNGLBINDTEXTUREPROC glad_glBindTexture = NULL; -PFNGLBINDTEXTUREUNITPROC glad_glBindTextureUnit = NULL; -PFNGLBINDTEXTURESPROC glad_glBindTextures = NULL; -PFNGLBINDTRANSFORMFEEDBACKPROC glad_glBindTransformFeedback = NULL; -PFNGLBINDVERTEXARRAYPROC glad_glBindVertexArray = NULL; -PFNGLBINDVERTEXBUFFERPROC glad_glBindVertexBuffer = NULL; -PFNGLBINDVERTEXBUFFERSPROC glad_glBindVertexBuffers = NULL; -PFNGLBLENDCOLORPROC glad_glBlendColor = NULL; -PFNGLBLENDEQUATIONPROC glad_glBlendEquation = NULL; -PFNGLBLENDEQUATIONSEPARATEPROC glad_glBlendEquationSeparate = NULL; -PFNGLBLENDEQUATIONSEPARATEIPROC glad_glBlendEquationSeparatei = NULL; -PFNGLBLENDEQUATIONIPROC glad_glBlendEquationi = NULL; -PFNGLBLENDFUNCPROC glad_glBlendFunc = NULL; -PFNGLBLENDFUNCSEPARATEPROC glad_glBlendFuncSeparate = NULL; -PFNGLBLENDFUNCSEPARATEIPROC glad_glBlendFuncSeparatei = NULL; -PFNGLBLENDFUNCIPROC glad_glBlendFunci = NULL; -PFNGLBLITFRAMEBUFFERPROC glad_glBlitFramebuffer = NULL; -PFNGLBLITNAMEDFRAMEBUFFERPROC glad_glBlitNamedFramebuffer = NULL; -PFNGLBUFFERDATAPROC glad_glBufferData = NULL; -PFNGLBUFFERSTORAGEPROC glad_glBufferStorage = NULL; -PFNGLBUFFERSUBDATAPROC glad_glBufferSubData = NULL; -PFNGLCHECKFRAMEBUFFERSTATUSPROC glad_glCheckFramebufferStatus = NULL; -PFNGLCHECKNAMEDFRAMEBUFFERSTATUSPROC glad_glCheckNamedFramebufferStatus = NULL; -PFNGLCLAMPCOLORPROC glad_glClampColor = NULL; -PFNGLCLEARPROC glad_glClear = NULL; -PFNGLCLEARBUFFERDATAPROC glad_glClearBufferData = NULL; -PFNGLCLEARBUFFERSUBDATAPROC glad_glClearBufferSubData = NULL; -PFNGLCLEARBUFFERFIPROC glad_glClearBufferfi = NULL; -PFNGLCLEARBUFFERFVPROC glad_glClearBufferfv = NULL; -PFNGLCLEARBUFFERIVPROC glad_glClearBufferiv = NULL; -PFNGLCLEARBUFFERUIVPROC glad_glClearBufferuiv = NULL; -PFNGLCLEARCOLORPROC glad_glClearColor = NULL; -PFNGLCLEARDEPTHPROC glad_glClearDepth = NULL; -PFNGLCLEARDEPTHFPROC glad_glClearDepthf = NULL; -PFNGLCLEARNAMEDBUFFERDATAPROC glad_glClearNamedBufferData = NULL; -PFNGLCLEARNAMEDBUFFERSUBDATAPROC glad_glClearNamedBufferSubData = NULL; -PFNGLCLEARNAMEDFRAMEBUFFERFIPROC glad_glClearNamedFramebufferfi = NULL; -PFNGLCLEARNAMEDFRAMEBUFFERFVPROC glad_glClearNamedFramebufferfv = NULL; -PFNGLCLEARNAMEDFRAMEBUFFERIVPROC glad_glClearNamedFramebufferiv = NULL; -PFNGLCLEARNAMEDFRAMEBUFFERUIVPROC glad_glClearNamedFramebufferuiv = NULL; -PFNGLCLEARSTENCILPROC glad_glClearStencil = NULL; -PFNGLCLEARTEXIMAGEPROC glad_glClearTexImage = NULL; -PFNGLCLEARTEXSUBIMAGEPROC glad_glClearTexSubImage = NULL; -PFNGLCLIENTWAITSYNCPROC glad_glClientWaitSync = NULL; -PFNGLCLIPCONTROLPROC glad_glClipControl = NULL; -PFNGLCOLORMASKPROC glad_glColorMask = NULL; -PFNGLCOLORMASKIPROC glad_glColorMaski = NULL; -PFNGLCOLORP3UIPROC glad_glColorP3ui = NULL; -PFNGLCOLORP3UIVPROC glad_glColorP3uiv = NULL; -PFNGLCOLORP4UIPROC glad_glColorP4ui = NULL; -PFNGLCOLORP4UIVPROC glad_glColorP4uiv = NULL; -PFNGLCOMPILESHADERPROC glad_glCompileShader = NULL; -PFNGLCOMPRESSEDTEXIMAGE1DPROC glad_glCompressedTexImage1D = NULL; -PFNGLCOMPRESSEDTEXIMAGE2DPROC glad_glCompressedTexImage2D = NULL; -PFNGLCOMPRESSEDTEXIMAGE3DPROC glad_glCompressedTexImage3D = NULL; -PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC glad_glCompressedTexSubImage1D = NULL; -PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC glad_glCompressedTexSubImage2D = NULL; -PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC glad_glCompressedTexSubImage3D = NULL; -PFNGLCOMPRESSEDTEXTURESUBIMAGE1DPROC glad_glCompressedTextureSubImage1D = NULL; -PFNGLCOMPRESSEDTEXTURESUBIMAGE2DPROC glad_glCompressedTextureSubImage2D = NULL; -PFNGLCOMPRESSEDTEXTURESUBIMAGE3DPROC glad_glCompressedTextureSubImage3D = NULL; -PFNGLCOPYBUFFERSUBDATAPROC glad_glCopyBufferSubData = NULL; -PFNGLCOPYIMAGESUBDATAPROC glad_glCopyImageSubData = NULL; -PFNGLCOPYNAMEDBUFFERSUBDATAPROC glad_glCopyNamedBufferSubData = NULL; -PFNGLCOPYTEXIMAGE1DPROC glad_glCopyTexImage1D = NULL; -PFNGLCOPYTEXIMAGE2DPROC glad_glCopyTexImage2D = NULL; -PFNGLCOPYTEXSUBIMAGE1DPROC glad_glCopyTexSubImage1D = NULL; -PFNGLCOPYTEXSUBIMAGE2DPROC glad_glCopyTexSubImage2D = NULL; -PFNGLCOPYTEXSUBIMAGE3DPROC glad_glCopyTexSubImage3D = NULL; -PFNGLCOPYTEXTURESUBIMAGE1DPROC glad_glCopyTextureSubImage1D = NULL; -PFNGLCOPYTEXTURESUBIMAGE2DPROC glad_glCopyTextureSubImage2D = NULL; -PFNGLCOPYTEXTURESUBIMAGE3DPROC glad_glCopyTextureSubImage3D = NULL; -PFNGLCREATEBUFFERSPROC glad_glCreateBuffers = NULL; -PFNGLCREATEFRAMEBUFFERSPROC glad_glCreateFramebuffers = NULL; -PFNGLCREATEPROGRAMPROC glad_glCreateProgram = NULL; -PFNGLCREATEPROGRAMPIPELINESPROC glad_glCreateProgramPipelines = NULL; -PFNGLCREATEQUERIESPROC glad_glCreateQueries = NULL; -PFNGLCREATERENDERBUFFERSPROC glad_glCreateRenderbuffers = NULL; -PFNGLCREATESAMPLERSPROC glad_glCreateSamplers = NULL; -PFNGLCREATESHADERPROC glad_glCreateShader = NULL; -PFNGLCREATESHADERPROGRAMVPROC glad_glCreateShaderProgramv = NULL; -PFNGLCREATETEXTURESPROC glad_glCreateTextures = NULL; -PFNGLCREATETRANSFORMFEEDBACKSPROC glad_glCreateTransformFeedbacks = NULL; -PFNGLCREATEVERTEXARRAYSPROC glad_glCreateVertexArrays = NULL; -PFNGLCULLFACEPROC glad_glCullFace = NULL; -PFNGLDEBUGMESSAGECALLBACKPROC glad_glDebugMessageCallback = NULL; -PFNGLDEBUGMESSAGECONTROLPROC glad_glDebugMessageControl = NULL; -PFNGLDEBUGMESSAGEINSERTPROC glad_glDebugMessageInsert = NULL; -PFNGLDELETEBUFFERSPROC glad_glDeleteBuffers = NULL; -PFNGLDELETEFRAMEBUFFERSPROC glad_glDeleteFramebuffers = NULL; -PFNGLDELETEPROGRAMPROC glad_glDeleteProgram = NULL; -PFNGLDELETEPROGRAMPIPELINESPROC glad_glDeleteProgramPipelines = NULL; -PFNGLDELETEQUERIESPROC glad_glDeleteQueries = NULL; -PFNGLDELETERENDERBUFFERSPROC glad_glDeleteRenderbuffers = NULL; -PFNGLDELETESAMPLERSPROC glad_glDeleteSamplers = NULL; -PFNGLDELETESHADERPROC glad_glDeleteShader = NULL; -PFNGLDELETESYNCPROC glad_glDeleteSync = NULL; -PFNGLDELETETEXTURESPROC glad_glDeleteTextures = NULL; -PFNGLDELETETRANSFORMFEEDBACKSPROC glad_glDeleteTransformFeedbacks = NULL; -PFNGLDELETEVERTEXARRAYSPROC glad_glDeleteVertexArrays = NULL; -PFNGLDEPTHFUNCPROC glad_glDepthFunc = NULL; -PFNGLDEPTHMASKPROC glad_glDepthMask = NULL; -PFNGLDEPTHRANGEPROC glad_glDepthRange = NULL; -PFNGLDEPTHRANGEARRAYVPROC glad_glDepthRangeArrayv = NULL; -PFNGLDEPTHRANGEINDEXEDPROC glad_glDepthRangeIndexed = NULL; -PFNGLDEPTHRANGEFPROC glad_glDepthRangef = NULL; -PFNGLDETACHSHADERPROC glad_glDetachShader = NULL; -PFNGLDISABLEPROC glad_glDisable = NULL; -PFNGLDISABLEVERTEXARRAYATTRIBPROC glad_glDisableVertexArrayAttrib = NULL; -PFNGLDISABLEVERTEXATTRIBARRAYPROC glad_glDisableVertexAttribArray = NULL; -PFNGLDISABLEIPROC glad_glDisablei = NULL; -PFNGLDISPATCHCOMPUTEPROC glad_glDispatchCompute = NULL; -PFNGLDISPATCHCOMPUTEINDIRECTPROC glad_glDispatchComputeIndirect = NULL; -PFNGLDRAWARRAYSPROC glad_glDrawArrays = NULL; -PFNGLDRAWARRAYSINDIRECTPROC glad_glDrawArraysIndirect = NULL; -PFNGLDRAWARRAYSINSTANCEDPROC glad_glDrawArraysInstanced = NULL; -PFNGLDRAWARRAYSINSTANCEDBASEINSTANCEPROC glad_glDrawArraysInstancedBaseInstance = NULL; -PFNGLDRAWBUFFERPROC glad_glDrawBuffer = NULL; -PFNGLDRAWBUFFERSPROC glad_glDrawBuffers = NULL; -PFNGLDRAWELEMENTSPROC glad_glDrawElements = NULL; -PFNGLDRAWELEMENTSBASEVERTEXPROC glad_glDrawElementsBaseVertex = NULL; -PFNGLDRAWELEMENTSINDIRECTPROC glad_glDrawElementsIndirect = NULL; -PFNGLDRAWELEMENTSINSTANCEDPROC glad_glDrawElementsInstanced = NULL; -PFNGLDRAWELEMENTSINSTANCEDBASEINSTANCEPROC glad_glDrawElementsInstancedBaseInstance = NULL; -PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC glad_glDrawElementsInstancedBaseVertex = NULL; -PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXBASEINSTANCEPROC glad_glDrawElementsInstancedBaseVertexBaseInstance = NULL; -PFNGLDRAWRANGEELEMENTSPROC glad_glDrawRangeElements = NULL; -PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC glad_glDrawRangeElementsBaseVertex = NULL; -PFNGLDRAWTRANSFORMFEEDBACKPROC glad_glDrawTransformFeedback = NULL; -PFNGLDRAWTRANSFORMFEEDBACKINSTANCEDPROC glad_glDrawTransformFeedbackInstanced = NULL; -PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC glad_glDrawTransformFeedbackStream = NULL; -PFNGLDRAWTRANSFORMFEEDBACKSTREAMINSTANCEDPROC glad_glDrawTransformFeedbackStreamInstanced = NULL; -PFNGLENABLEPROC glad_glEnable = NULL; -PFNGLENABLEVERTEXARRAYATTRIBPROC glad_glEnableVertexArrayAttrib = NULL; -PFNGLENABLEVERTEXATTRIBARRAYPROC glad_glEnableVertexAttribArray = NULL; -PFNGLENABLEIPROC glad_glEnablei = NULL; -PFNGLENDCONDITIONALRENDERPROC glad_glEndConditionalRender = NULL; -PFNGLENDQUERYPROC glad_glEndQuery = NULL; -PFNGLENDQUERYINDEXEDPROC glad_glEndQueryIndexed = NULL; -PFNGLENDTRANSFORMFEEDBACKPROC glad_glEndTransformFeedback = NULL; -PFNGLFENCESYNCPROC glad_glFenceSync = NULL; -PFNGLFINISHPROC glad_glFinish = NULL; -PFNGLFLUSHPROC glad_glFlush = NULL; -PFNGLFLUSHMAPPEDBUFFERRANGEPROC glad_glFlushMappedBufferRange = NULL; -PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEPROC glad_glFlushMappedNamedBufferRange = NULL; -PFNGLFRAMEBUFFERPARAMETERIPROC glad_glFramebufferParameteri = NULL; -PFNGLFRAMEBUFFERRENDERBUFFERPROC glad_glFramebufferRenderbuffer = NULL; -PFNGLFRAMEBUFFERTEXTUREPROC glad_glFramebufferTexture = NULL; -PFNGLFRAMEBUFFERTEXTURE1DPROC glad_glFramebufferTexture1D = NULL; -PFNGLFRAMEBUFFERTEXTURE2DPROC glad_glFramebufferTexture2D = NULL; -PFNGLFRAMEBUFFERTEXTURE3DPROC glad_glFramebufferTexture3D = NULL; -PFNGLFRAMEBUFFERTEXTURELAYERPROC glad_glFramebufferTextureLayer = NULL; -PFNGLFRONTFACEPROC glad_glFrontFace = NULL; -PFNGLGENBUFFERSPROC glad_glGenBuffers = NULL; -PFNGLGENFRAMEBUFFERSPROC glad_glGenFramebuffers = NULL; -PFNGLGENPROGRAMPIPELINESPROC glad_glGenProgramPipelines = NULL; -PFNGLGENQUERIESPROC glad_glGenQueries = NULL; -PFNGLGENRENDERBUFFERSPROC glad_glGenRenderbuffers = NULL; -PFNGLGENSAMPLERSPROC glad_glGenSamplers = NULL; -PFNGLGENTEXTURESPROC glad_glGenTextures = NULL; -PFNGLGENTRANSFORMFEEDBACKSPROC glad_glGenTransformFeedbacks = NULL; -PFNGLGENVERTEXARRAYSPROC glad_glGenVertexArrays = NULL; -PFNGLGENERATEMIPMAPPROC glad_glGenerateMipmap = NULL; -PFNGLGENERATETEXTUREMIPMAPPROC glad_glGenerateTextureMipmap = NULL; -PFNGLGETACTIVEATOMICCOUNTERBUFFERIVPROC glad_glGetActiveAtomicCounterBufferiv = NULL; -PFNGLGETACTIVEATTRIBPROC glad_glGetActiveAttrib = NULL; -PFNGLGETACTIVESUBROUTINENAMEPROC glad_glGetActiveSubroutineName = NULL; -PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC glad_glGetActiveSubroutineUniformName = NULL; -PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC glad_glGetActiveSubroutineUniformiv = NULL; -PFNGLGETACTIVEUNIFORMPROC glad_glGetActiveUniform = NULL; -PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC glad_glGetActiveUniformBlockName = NULL; -PFNGLGETACTIVEUNIFORMBLOCKIVPROC glad_glGetActiveUniformBlockiv = NULL; -PFNGLGETACTIVEUNIFORMNAMEPROC glad_glGetActiveUniformName = NULL; -PFNGLGETACTIVEUNIFORMSIVPROC glad_glGetActiveUniformsiv = NULL; -PFNGLGETATTACHEDSHADERSPROC glad_glGetAttachedShaders = NULL; -PFNGLGETATTRIBLOCATIONPROC glad_glGetAttribLocation = NULL; -PFNGLGETBOOLEANI_VPROC glad_glGetBooleani_v = NULL; -PFNGLGETBOOLEANVPROC glad_glGetBooleanv = NULL; -PFNGLGETBUFFERPARAMETERI64VPROC glad_glGetBufferParameteri64v = NULL; -PFNGLGETBUFFERPARAMETERIVPROC glad_glGetBufferParameteriv = NULL; -PFNGLGETBUFFERPOINTERVPROC glad_glGetBufferPointerv = NULL; -PFNGLGETBUFFERSUBDATAPROC glad_glGetBufferSubData = NULL; -PFNGLGETCOMPRESSEDTEXIMAGEPROC glad_glGetCompressedTexImage = NULL; -PFNGLGETCOMPRESSEDTEXTUREIMAGEPROC glad_glGetCompressedTextureImage = NULL; -PFNGLGETCOMPRESSEDTEXTURESUBIMAGEPROC glad_glGetCompressedTextureSubImage = NULL; -PFNGLGETDEBUGMESSAGELOGPROC glad_glGetDebugMessageLog = NULL; -PFNGLGETDOUBLEI_VPROC glad_glGetDoublei_v = NULL; -PFNGLGETDOUBLEVPROC glad_glGetDoublev = NULL; -PFNGLGETERRORPROC glad_glGetError = NULL; -PFNGLGETFLOATI_VPROC glad_glGetFloati_v = NULL; -PFNGLGETFLOATVPROC glad_glGetFloatv = NULL; -PFNGLGETFRAGDATAINDEXPROC glad_glGetFragDataIndex = NULL; -PFNGLGETFRAGDATALOCATIONPROC glad_glGetFragDataLocation = NULL; -PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC glad_glGetFramebufferAttachmentParameteriv = NULL; -PFNGLGETFRAMEBUFFERPARAMETERIVPROC glad_glGetFramebufferParameteriv = NULL; -PFNGLGETGRAPHICSRESETSTATUSPROC glad_glGetGraphicsResetStatus = NULL; -PFNGLGETINTEGER64I_VPROC glad_glGetInteger64i_v = NULL; -PFNGLGETINTEGER64VPROC glad_glGetInteger64v = NULL; -PFNGLGETINTEGERI_VPROC glad_glGetIntegeri_v = NULL; -PFNGLGETINTEGERVPROC glad_glGetIntegerv = NULL; -PFNGLGETINTERNALFORMATI64VPROC glad_glGetInternalformati64v = NULL; -PFNGLGETINTERNALFORMATIVPROC glad_glGetInternalformativ = NULL; -PFNGLGETMULTISAMPLEFVPROC glad_glGetMultisamplefv = NULL; -PFNGLGETNAMEDBUFFERPARAMETERI64VPROC glad_glGetNamedBufferParameteri64v = NULL; -PFNGLGETNAMEDBUFFERPARAMETERIVPROC glad_glGetNamedBufferParameteriv = NULL; -PFNGLGETNAMEDBUFFERPOINTERVPROC glad_glGetNamedBufferPointerv = NULL; -PFNGLGETNAMEDBUFFERSUBDATAPROC glad_glGetNamedBufferSubData = NULL; -PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVPROC glad_glGetNamedFramebufferAttachmentParameteriv = NULL; -PFNGLGETNAMEDFRAMEBUFFERPARAMETERIVPROC glad_glGetNamedFramebufferParameteriv = NULL; -PFNGLGETNAMEDRENDERBUFFERPARAMETERIVPROC glad_glGetNamedRenderbufferParameteriv = NULL; -PFNGLGETOBJECTLABELPROC glad_glGetObjectLabel = NULL; -PFNGLGETOBJECTPTRLABELPROC glad_glGetObjectPtrLabel = NULL; -PFNGLGETPOINTERVPROC glad_glGetPointerv = NULL; -PFNGLGETPROGRAMBINARYPROC glad_glGetProgramBinary = NULL; -PFNGLGETPROGRAMINFOLOGPROC glad_glGetProgramInfoLog = NULL; -PFNGLGETPROGRAMINTERFACEIVPROC glad_glGetProgramInterfaceiv = NULL; -PFNGLGETPROGRAMPIPELINEINFOLOGPROC glad_glGetProgramPipelineInfoLog = NULL; -PFNGLGETPROGRAMPIPELINEIVPROC glad_glGetProgramPipelineiv = NULL; -PFNGLGETPROGRAMRESOURCEINDEXPROC glad_glGetProgramResourceIndex = NULL; -PFNGLGETPROGRAMRESOURCELOCATIONPROC glad_glGetProgramResourceLocation = NULL; -PFNGLGETPROGRAMRESOURCELOCATIONINDEXPROC glad_glGetProgramResourceLocationIndex = NULL; -PFNGLGETPROGRAMRESOURCENAMEPROC glad_glGetProgramResourceName = NULL; -PFNGLGETPROGRAMRESOURCEIVPROC glad_glGetProgramResourceiv = NULL; -PFNGLGETPROGRAMSTAGEIVPROC glad_glGetProgramStageiv = NULL; -PFNGLGETPROGRAMIVPROC glad_glGetProgramiv = NULL; -PFNGLGETQUERYBUFFEROBJECTI64VPROC glad_glGetQueryBufferObjecti64v = NULL; -PFNGLGETQUERYBUFFEROBJECTIVPROC glad_glGetQueryBufferObjectiv = NULL; -PFNGLGETQUERYBUFFEROBJECTUI64VPROC glad_glGetQueryBufferObjectui64v = NULL; -PFNGLGETQUERYBUFFEROBJECTUIVPROC glad_glGetQueryBufferObjectuiv = NULL; -PFNGLGETQUERYINDEXEDIVPROC glad_glGetQueryIndexediv = NULL; -PFNGLGETQUERYOBJECTI64VPROC glad_glGetQueryObjecti64v = NULL; -PFNGLGETQUERYOBJECTIVPROC glad_glGetQueryObjectiv = NULL; -PFNGLGETQUERYOBJECTUI64VPROC glad_glGetQueryObjectui64v = NULL; -PFNGLGETQUERYOBJECTUIVPROC glad_glGetQueryObjectuiv = NULL; -PFNGLGETQUERYIVPROC glad_glGetQueryiv = NULL; -PFNGLGETRENDERBUFFERPARAMETERIVPROC glad_glGetRenderbufferParameteriv = NULL; -PFNGLGETSAMPLERPARAMETERIIVPROC glad_glGetSamplerParameterIiv = NULL; -PFNGLGETSAMPLERPARAMETERIUIVPROC glad_glGetSamplerParameterIuiv = NULL; -PFNGLGETSAMPLERPARAMETERFVPROC glad_glGetSamplerParameterfv = NULL; -PFNGLGETSAMPLERPARAMETERIVPROC glad_glGetSamplerParameteriv = NULL; -PFNGLGETSHADERINFOLOGPROC glad_glGetShaderInfoLog = NULL; -PFNGLGETSHADERPRECISIONFORMATPROC glad_glGetShaderPrecisionFormat = NULL; -PFNGLGETSHADERSOURCEPROC glad_glGetShaderSource = NULL; -PFNGLGETSHADERIVPROC glad_glGetShaderiv = NULL; -PFNGLGETSTRINGPROC glad_glGetString = NULL; -PFNGLGETSTRINGIPROC glad_glGetStringi = NULL; -PFNGLGETSUBROUTINEINDEXPROC glad_glGetSubroutineIndex = NULL; -PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC glad_glGetSubroutineUniformLocation = NULL; -PFNGLGETSYNCIVPROC glad_glGetSynciv = NULL; -PFNGLGETTEXIMAGEPROC glad_glGetTexImage = NULL; -PFNGLGETTEXLEVELPARAMETERFVPROC glad_glGetTexLevelParameterfv = NULL; -PFNGLGETTEXLEVELPARAMETERIVPROC glad_glGetTexLevelParameteriv = NULL; -PFNGLGETTEXPARAMETERIIVPROC glad_glGetTexParameterIiv = NULL; -PFNGLGETTEXPARAMETERIUIVPROC glad_glGetTexParameterIuiv = NULL; -PFNGLGETTEXPARAMETERFVPROC glad_glGetTexParameterfv = NULL; -PFNGLGETTEXPARAMETERIVPROC glad_glGetTexParameteriv = NULL; -PFNGLGETTEXTUREIMAGEPROC glad_glGetTextureImage = NULL; -PFNGLGETTEXTURELEVELPARAMETERFVPROC glad_glGetTextureLevelParameterfv = NULL; -PFNGLGETTEXTURELEVELPARAMETERIVPROC glad_glGetTextureLevelParameteriv = NULL; -PFNGLGETTEXTUREPARAMETERIIVPROC glad_glGetTextureParameterIiv = NULL; -PFNGLGETTEXTUREPARAMETERIUIVPROC glad_glGetTextureParameterIuiv = NULL; -PFNGLGETTEXTUREPARAMETERFVPROC glad_glGetTextureParameterfv = NULL; -PFNGLGETTEXTUREPARAMETERIVPROC glad_glGetTextureParameteriv = NULL; -PFNGLGETTEXTURESUBIMAGEPROC glad_glGetTextureSubImage = NULL; -PFNGLGETTRANSFORMFEEDBACKVARYINGPROC glad_glGetTransformFeedbackVarying = NULL; -PFNGLGETTRANSFORMFEEDBACKI64_VPROC glad_glGetTransformFeedbacki64_v = NULL; -PFNGLGETTRANSFORMFEEDBACKI_VPROC glad_glGetTransformFeedbacki_v = NULL; -PFNGLGETTRANSFORMFEEDBACKIVPROC glad_glGetTransformFeedbackiv = NULL; -PFNGLGETUNIFORMBLOCKINDEXPROC glad_glGetUniformBlockIndex = NULL; -PFNGLGETUNIFORMINDICESPROC glad_glGetUniformIndices = NULL; -PFNGLGETUNIFORMLOCATIONPROC glad_glGetUniformLocation = NULL; -PFNGLGETUNIFORMSUBROUTINEUIVPROC glad_glGetUniformSubroutineuiv = NULL; -PFNGLGETUNIFORMDVPROC glad_glGetUniformdv = NULL; -PFNGLGETUNIFORMFVPROC glad_glGetUniformfv = NULL; -PFNGLGETUNIFORMIVPROC glad_glGetUniformiv = NULL; -PFNGLGETUNIFORMUIVPROC glad_glGetUniformuiv = NULL; -PFNGLGETVERTEXARRAYINDEXED64IVPROC glad_glGetVertexArrayIndexed64iv = NULL; -PFNGLGETVERTEXARRAYINDEXEDIVPROC glad_glGetVertexArrayIndexediv = NULL; -PFNGLGETVERTEXARRAYIVPROC glad_glGetVertexArrayiv = NULL; -PFNGLGETVERTEXATTRIBIIVPROC glad_glGetVertexAttribIiv = NULL; -PFNGLGETVERTEXATTRIBIUIVPROC glad_glGetVertexAttribIuiv = NULL; -PFNGLGETVERTEXATTRIBLDVPROC glad_glGetVertexAttribLdv = NULL; -PFNGLGETVERTEXATTRIBPOINTERVPROC glad_glGetVertexAttribPointerv = NULL; -PFNGLGETVERTEXATTRIBDVPROC glad_glGetVertexAttribdv = NULL; -PFNGLGETVERTEXATTRIBFVPROC glad_glGetVertexAttribfv = NULL; -PFNGLGETVERTEXATTRIBIVPROC glad_glGetVertexAttribiv = NULL; -PFNGLGETNCOLORTABLEPROC glad_glGetnColorTable = NULL; -PFNGLGETNCOMPRESSEDTEXIMAGEPROC glad_glGetnCompressedTexImage = NULL; -PFNGLGETNCONVOLUTIONFILTERPROC glad_glGetnConvolutionFilter = NULL; -PFNGLGETNHISTOGRAMPROC glad_glGetnHistogram = NULL; -PFNGLGETNMAPDVPROC glad_glGetnMapdv = NULL; -PFNGLGETNMAPFVPROC glad_glGetnMapfv = NULL; -PFNGLGETNMAPIVPROC glad_glGetnMapiv = NULL; -PFNGLGETNMINMAXPROC glad_glGetnMinmax = NULL; -PFNGLGETNPIXELMAPFVPROC glad_glGetnPixelMapfv = NULL; -PFNGLGETNPIXELMAPUIVPROC glad_glGetnPixelMapuiv = NULL; -PFNGLGETNPIXELMAPUSVPROC glad_glGetnPixelMapusv = NULL; -PFNGLGETNPOLYGONSTIPPLEPROC glad_glGetnPolygonStipple = NULL; -PFNGLGETNSEPARABLEFILTERPROC glad_glGetnSeparableFilter = NULL; -PFNGLGETNTEXIMAGEPROC glad_glGetnTexImage = NULL; -PFNGLGETNUNIFORMDVPROC glad_glGetnUniformdv = NULL; -PFNGLGETNUNIFORMFVPROC glad_glGetnUniformfv = NULL; -PFNGLGETNUNIFORMIVPROC glad_glGetnUniformiv = NULL; -PFNGLGETNUNIFORMUIVPROC glad_glGetnUniformuiv = NULL; -PFNGLHINTPROC glad_glHint = NULL; -PFNGLINVALIDATEBUFFERDATAPROC glad_glInvalidateBufferData = NULL; -PFNGLINVALIDATEBUFFERSUBDATAPROC glad_glInvalidateBufferSubData = NULL; -PFNGLINVALIDATEFRAMEBUFFERPROC glad_glInvalidateFramebuffer = NULL; -PFNGLINVALIDATENAMEDFRAMEBUFFERDATAPROC glad_glInvalidateNamedFramebufferData = NULL; -PFNGLINVALIDATENAMEDFRAMEBUFFERSUBDATAPROC glad_glInvalidateNamedFramebufferSubData = NULL; -PFNGLINVALIDATESUBFRAMEBUFFERPROC glad_glInvalidateSubFramebuffer = NULL; -PFNGLINVALIDATETEXIMAGEPROC glad_glInvalidateTexImage = NULL; -PFNGLINVALIDATETEXSUBIMAGEPROC glad_glInvalidateTexSubImage = NULL; -PFNGLISBUFFERPROC glad_glIsBuffer = NULL; -PFNGLISENABLEDPROC glad_glIsEnabled = NULL; -PFNGLISENABLEDIPROC glad_glIsEnabledi = NULL; -PFNGLISFRAMEBUFFERPROC glad_glIsFramebuffer = NULL; -PFNGLISPROGRAMPROC glad_glIsProgram = NULL; -PFNGLISPROGRAMPIPELINEPROC glad_glIsProgramPipeline = NULL; -PFNGLISQUERYPROC glad_glIsQuery = NULL; -PFNGLISRENDERBUFFERPROC glad_glIsRenderbuffer = NULL; -PFNGLISSAMPLERPROC glad_glIsSampler = NULL; -PFNGLISSHADERPROC glad_glIsShader = NULL; -PFNGLISSYNCPROC glad_glIsSync = NULL; -PFNGLISTEXTUREPROC glad_glIsTexture = NULL; -PFNGLISTRANSFORMFEEDBACKPROC glad_glIsTransformFeedback = NULL; -PFNGLISVERTEXARRAYPROC glad_glIsVertexArray = NULL; -PFNGLLINEWIDTHPROC glad_glLineWidth = NULL; -PFNGLLINKPROGRAMPROC glad_glLinkProgram = NULL; -PFNGLLOGICOPPROC glad_glLogicOp = NULL; -PFNGLMAPBUFFERPROC glad_glMapBuffer = NULL; -PFNGLMAPBUFFERRANGEPROC glad_glMapBufferRange = NULL; -PFNGLMAPNAMEDBUFFERPROC glad_glMapNamedBuffer = NULL; -PFNGLMAPNAMEDBUFFERRANGEPROC glad_glMapNamedBufferRange = NULL; -PFNGLMEMORYBARRIERPROC glad_glMemoryBarrier = NULL; -PFNGLMEMORYBARRIERBYREGIONPROC glad_glMemoryBarrierByRegion = NULL; -PFNGLMINSAMPLESHADINGPROC glad_glMinSampleShading = NULL; -PFNGLMULTIDRAWARRAYSPROC glad_glMultiDrawArrays = NULL; -PFNGLMULTIDRAWARRAYSINDIRECTPROC glad_glMultiDrawArraysIndirect = NULL; -PFNGLMULTIDRAWARRAYSINDIRECTCOUNTPROC glad_glMultiDrawArraysIndirectCount = NULL; -PFNGLMULTIDRAWELEMENTSPROC glad_glMultiDrawElements = NULL; -PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC glad_glMultiDrawElementsBaseVertex = NULL; -PFNGLMULTIDRAWELEMENTSINDIRECTPROC glad_glMultiDrawElementsIndirect = NULL; -PFNGLMULTIDRAWELEMENTSINDIRECTCOUNTPROC glad_glMultiDrawElementsIndirectCount = NULL; -PFNGLMULTITEXCOORDP1UIPROC glad_glMultiTexCoordP1ui = NULL; -PFNGLMULTITEXCOORDP1UIVPROC glad_glMultiTexCoordP1uiv = NULL; -PFNGLMULTITEXCOORDP2UIPROC glad_glMultiTexCoordP2ui = NULL; -PFNGLMULTITEXCOORDP2UIVPROC glad_glMultiTexCoordP2uiv = NULL; -PFNGLMULTITEXCOORDP3UIPROC glad_glMultiTexCoordP3ui = NULL; -PFNGLMULTITEXCOORDP3UIVPROC glad_glMultiTexCoordP3uiv = NULL; -PFNGLMULTITEXCOORDP4UIPROC glad_glMultiTexCoordP4ui = NULL; -PFNGLMULTITEXCOORDP4UIVPROC glad_glMultiTexCoordP4uiv = NULL; -PFNGLNAMEDBUFFERDATAPROC glad_glNamedBufferData = NULL; -PFNGLNAMEDBUFFERSTORAGEPROC glad_glNamedBufferStorage = NULL; -PFNGLNAMEDBUFFERSUBDATAPROC glad_glNamedBufferSubData = NULL; -PFNGLNAMEDFRAMEBUFFERDRAWBUFFERPROC glad_glNamedFramebufferDrawBuffer = NULL; -PFNGLNAMEDFRAMEBUFFERDRAWBUFFERSPROC glad_glNamedFramebufferDrawBuffers = NULL; -PFNGLNAMEDFRAMEBUFFERPARAMETERIPROC glad_glNamedFramebufferParameteri = NULL; -PFNGLNAMEDFRAMEBUFFERREADBUFFERPROC glad_glNamedFramebufferReadBuffer = NULL; -PFNGLNAMEDFRAMEBUFFERRENDERBUFFERPROC glad_glNamedFramebufferRenderbuffer = NULL; -PFNGLNAMEDFRAMEBUFFERTEXTUREPROC glad_glNamedFramebufferTexture = NULL; -PFNGLNAMEDFRAMEBUFFERTEXTURELAYERPROC glad_glNamedFramebufferTextureLayer = NULL; -PFNGLNAMEDRENDERBUFFERSTORAGEPROC glad_glNamedRenderbufferStorage = NULL; -PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEPROC glad_glNamedRenderbufferStorageMultisample = NULL; -PFNGLNORMALP3UIPROC glad_glNormalP3ui = NULL; -PFNGLNORMALP3UIVPROC glad_glNormalP3uiv = NULL; -PFNGLOBJECTLABELPROC glad_glObjectLabel = NULL; -PFNGLOBJECTPTRLABELPROC glad_glObjectPtrLabel = NULL; -PFNGLPATCHPARAMETERFVPROC glad_glPatchParameterfv = NULL; -PFNGLPATCHPARAMETERIPROC glad_glPatchParameteri = NULL; -PFNGLPAUSETRANSFORMFEEDBACKPROC glad_glPauseTransformFeedback = NULL; -PFNGLPIXELSTOREFPROC glad_glPixelStoref = NULL; -PFNGLPIXELSTOREIPROC glad_glPixelStorei = NULL; -PFNGLPOINTPARAMETERFPROC glad_glPointParameterf = NULL; -PFNGLPOINTPARAMETERFVPROC glad_glPointParameterfv = NULL; -PFNGLPOINTPARAMETERIPROC glad_glPointParameteri = NULL; -PFNGLPOINTPARAMETERIVPROC glad_glPointParameteriv = NULL; -PFNGLPOINTSIZEPROC glad_glPointSize = NULL; -PFNGLPOLYGONMODEPROC glad_glPolygonMode = NULL; -PFNGLPOLYGONOFFSETPROC glad_glPolygonOffset = NULL; -PFNGLPOLYGONOFFSETCLAMPPROC glad_glPolygonOffsetClamp = NULL; -PFNGLPOPDEBUGGROUPPROC glad_glPopDebugGroup = NULL; -PFNGLPRIMITIVERESTARTINDEXPROC glad_glPrimitiveRestartIndex = NULL; -PFNGLPROGRAMBINARYPROC glad_glProgramBinary = NULL; -PFNGLPROGRAMPARAMETERIPROC glad_glProgramParameteri = NULL; -PFNGLPROGRAMUNIFORM1DPROC glad_glProgramUniform1d = NULL; -PFNGLPROGRAMUNIFORM1DVPROC glad_glProgramUniform1dv = NULL; -PFNGLPROGRAMUNIFORM1FPROC glad_glProgramUniform1f = NULL; -PFNGLPROGRAMUNIFORM1FVPROC glad_glProgramUniform1fv = NULL; -PFNGLPROGRAMUNIFORM1IPROC glad_glProgramUniform1i = NULL; -PFNGLPROGRAMUNIFORM1IVPROC glad_glProgramUniform1iv = NULL; -PFNGLPROGRAMUNIFORM1UIPROC glad_glProgramUniform1ui = NULL; -PFNGLPROGRAMUNIFORM1UIVPROC glad_glProgramUniform1uiv = NULL; -PFNGLPROGRAMUNIFORM2DPROC glad_glProgramUniform2d = NULL; -PFNGLPROGRAMUNIFORM2DVPROC glad_glProgramUniform2dv = NULL; -PFNGLPROGRAMUNIFORM2FPROC glad_glProgramUniform2f = NULL; -PFNGLPROGRAMUNIFORM2FVPROC glad_glProgramUniform2fv = NULL; -PFNGLPROGRAMUNIFORM2IPROC glad_glProgramUniform2i = NULL; -PFNGLPROGRAMUNIFORM2IVPROC glad_glProgramUniform2iv = NULL; -PFNGLPROGRAMUNIFORM2UIPROC glad_glProgramUniform2ui = NULL; -PFNGLPROGRAMUNIFORM2UIVPROC glad_glProgramUniform2uiv = NULL; -PFNGLPROGRAMUNIFORM3DPROC glad_glProgramUniform3d = NULL; -PFNGLPROGRAMUNIFORM3DVPROC glad_glProgramUniform3dv = NULL; -PFNGLPROGRAMUNIFORM3FPROC glad_glProgramUniform3f = NULL; -PFNGLPROGRAMUNIFORM3FVPROC glad_glProgramUniform3fv = NULL; -PFNGLPROGRAMUNIFORM3IPROC glad_glProgramUniform3i = NULL; -PFNGLPROGRAMUNIFORM3IVPROC glad_glProgramUniform3iv = NULL; -PFNGLPROGRAMUNIFORM3UIPROC glad_glProgramUniform3ui = NULL; -PFNGLPROGRAMUNIFORM3UIVPROC glad_glProgramUniform3uiv = NULL; -PFNGLPROGRAMUNIFORM4DPROC glad_glProgramUniform4d = NULL; -PFNGLPROGRAMUNIFORM4DVPROC glad_glProgramUniform4dv = NULL; -PFNGLPROGRAMUNIFORM4FPROC glad_glProgramUniform4f = NULL; -PFNGLPROGRAMUNIFORM4FVPROC glad_glProgramUniform4fv = NULL; -PFNGLPROGRAMUNIFORM4IPROC glad_glProgramUniform4i = NULL; -PFNGLPROGRAMUNIFORM4IVPROC glad_glProgramUniform4iv = NULL; -PFNGLPROGRAMUNIFORM4UIPROC glad_glProgramUniform4ui = NULL; -PFNGLPROGRAMUNIFORM4UIVPROC glad_glProgramUniform4uiv = NULL; -PFNGLPROGRAMUNIFORMMATRIX2DVPROC glad_glProgramUniformMatrix2dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX2FVPROC glad_glProgramUniformMatrix2fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC glad_glProgramUniformMatrix2x3dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC glad_glProgramUniformMatrix2x3fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC glad_glProgramUniformMatrix2x4dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC glad_glProgramUniformMatrix2x4fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX3DVPROC glad_glProgramUniformMatrix3dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX3FVPROC glad_glProgramUniformMatrix3fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC glad_glProgramUniformMatrix3x2dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC glad_glProgramUniformMatrix3x2fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC glad_glProgramUniformMatrix3x4dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC glad_glProgramUniformMatrix3x4fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX4DVPROC glad_glProgramUniformMatrix4dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX4FVPROC glad_glProgramUniformMatrix4fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC glad_glProgramUniformMatrix4x2dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC glad_glProgramUniformMatrix4x2fv = NULL; -PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC glad_glProgramUniformMatrix4x3dv = NULL; -PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC glad_glProgramUniformMatrix4x3fv = NULL; -PFNGLPROVOKINGVERTEXPROC glad_glProvokingVertex = NULL; -PFNGLPUSHDEBUGGROUPPROC glad_glPushDebugGroup = NULL; -PFNGLQUERYCOUNTERPROC glad_glQueryCounter = NULL; -PFNGLREADBUFFERPROC glad_glReadBuffer = NULL; -PFNGLREADPIXELSPROC glad_glReadPixels = NULL; -PFNGLREADNPIXELSPROC glad_glReadnPixels = NULL; -PFNGLRELEASESHADERCOMPILERPROC glad_glReleaseShaderCompiler = NULL; -PFNGLRENDERBUFFERSTORAGEPROC glad_glRenderbufferStorage = NULL; -PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC glad_glRenderbufferStorageMultisample = NULL; -PFNGLRESUMETRANSFORMFEEDBACKPROC glad_glResumeTransformFeedback = NULL; -PFNGLSAMPLECOVERAGEPROC glad_glSampleCoverage = NULL; -PFNGLSAMPLEMASKIPROC glad_glSampleMaski = NULL; -PFNGLSAMPLERPARAMETERIIVPROC glad_glSamplerParameterIiv = NULL; -PFNGLSAMPLERPARAMETERIUIVPROC glad_glSamplerParameterIuiv = NULL; -PFNGLSAMPLERPARAMETERFPROC glad_glSamplerParameterf = NULL; -PFNGLSAMPLERPARAMETERFVPROC glad_glSamplerParameterfv = NULL; -PFNGLSAMPLERPARAMETERIPROC glad_glSamplerParameteri = NULL; -PFNGLSAMPLERPARAMETERIVPROC glad_glSamplerParameteriv = NULL; -PFNGLSCISSORPROC glad_glScissor = NULL; -PFNGLSCISSORARRAYVPROC glad_glScissorArrayv = NULL; -PFNGLSCISSORINDEXEDPROC glad_glScissorIndexed = NULL; -PFNGLSCISSORINDEXEDVPROC glad_glScissorIndexedv = NULL; -PFNGLSECONDARYCOLORP3UIPROC glad_glSecondaryColorP3ui = NULL; -PFNGLSECONDARYCOLORP3UIVPROC glad_glSecondaryColorP3uiv = NULL; -PFNGLSHADERBINARYPROC glad_glShaderBinary = NULL; -PFNGLSHADERSOURCEPROC glad_glShaderSource = NULL; -PFNGLSHADERSTORAGEBLOCKBINDINGPROC glad_glShaderStorageBlockBinding = NULL; -PFNGLSPECIALIZESHADERPROC glad_glSpecializeShader = NULL; -PFNGLSTENCILFUNCPROC glad_glStencilFunc = NULL; -PFNGLSTENCILFUNCSEPARATEPROC glad_glStencilFuncSeparate = NULL; -PFNGLSTENCILMASKPROC glad_glStencilMask = NULL; -PFNGLSTENCILMASKSEPARATEPROC glad_glStencilMaskSeparate = NULL; -PFNGLSTENCILOPPROC glad_glStencilOp = NULL; -PFNGLSTENCILOPSEPARATEPROC glad_glStencilOpSeparate = NULL; -PFNGLTEXBUFFERPROC glad_glTexBuffer = NULL; -PFNGLTEXBUFFERRANGEPROC glad_glTexBufferRange = NULL; -PFNGLTEXCOORDP1UIPROC glad_glTexCoordP1ui = NULL; -PFNGLTEXCOORDP1UIVPROC glad_glTexCoordP1uiv = NULL; -PFNGLTEXCOORDP2UIPROC glad_glTexCoordP2ui = NULL; -PFNGLTEXCOORDP2UIVPROC glad_glTexCoordP2uiv = NULL; -PFNGLTEXCOORDP3UIPROC glad_glTexCoordP3ui = NULL; -PFNGLTEXCOORDP3UIVPROC glad_glTexCoordP3uiv = NULL; -PFNGLTEXCOORDP4UIPROC glad_glTexCoordP4ui = NULL; -PFNGLTEXCOORDP4UIVPROC glad_glTexCoordP4uiv = NULL; -PFNGLTEXIMAGE1DPROC glad_glTexImage1D = NULL; -PFNGLTEXIMAGE2DPROC glad_glTexImage2D = NULL; -PFNGLTEXIMAGE2DMULTISAMPLEPROC glad_glTexImage2DMultisample = NULL; -PFNGLTEXIMAGE3DPROC glad_glTexImage3D = NULL; -PFNGLTEXIMAGE3DMULTISAMPLEPROC glad_glTexImage3DMultisample = NULL; -PFNGLTEXPARAMETERIIVPROC glad_glTexParameterIiv = NULL; -PFNGLTEXPARAMETERIUIVPROC glad_glTexParameterIuiv = NULL; -PFNGLTEXPARAMETERFPROC glad_glTexParameterf = NULL; -PFNGLTEXPARAMETERFVPROC glad_glTexParameterfv = NULL; -PFNGLTEXPARAMETERIPROC glad_glTexParameteri = NULL; -PFNGLTEXPARAMETERIVPROC glad_glTexParameteriv = NULL; -PFNGLTEXSTORAGE1DPROC glad_glTexStorage1D = NULL; -PFNGLTEXSTORAGE2DPROC glad_glTexStorage2D = NULL; -PFNGLTEXSTORAGE2DMULTISAMPLEPROC glad_glTexStorage2DMultisample = NULL; -PFNGLTEXSTORAGE3DPROC glad_glTexStorage3D = NULL; -PFNGLTEXSTORAGE3DMULTISAMPLEPROC glad_glTexStorage3DMultisample = NULL; -PFNGLTEXSUBIMAGE1DPROC glad_glTexSubImage1D = NULL; -PFNGLTEXSUBIMAGE2DPROC glad_glTexSubImage2D = NULL; -PFNGLTEXSUBIMAGE3DPROC glad_glTexSubImage3D = NULL; -PFNGLTEXTUREBARRIERPROC glad_glTextureBarrier = NULL; -PFNGLTEXTUREBUFFERPROC glad_glTextureBuffer = NULL; -PFNGLTEXTUREBUFFERRANGEPROC glad_glTextureBufferRange = NULL; -PFNGLTEXTUREPARAMETERIIVPROC glad_glTextureParameterIiv = NULL; -PFNGLTEXTUREPARAMETERIUIVPROC glad_glTextureParameterIuiv = NULL; -PFNGLTEXTUREPARAMETERFPROC glad_glTextureParameterf = NULL; -PFNGLTEXTUREPARAMETERFVPROC glad_glTextureParameterfv = NULL; -PFNGLTEXTUREPARAMETERIPROC glad_glTextureParameteri = NULL; -PFNGLTEXTUREPARAMETERIVPROC glad_glTextureParameteriv = NULL; -PFNGLTEXTURESTORAGE1DPROC glad_glTextureStorage1D = NULL; -PFNGLTEXTURESTORAGE2DPROC glad_glTextureStorage2D = NULL; -PFNGLTEXTURESTORAGE2DMULTISAMPLEPROC glad_glTextureStorage2DMultisample = NULL; -PFNGLTEXTURESTORAGE3DPROC glad_glTextureStorage3D = NULL; -PFNGLTEXTURESTORAGE3DMULTISAMPLEPROC glad_glTextureStorage3DMultisample = NULL; -PFNGLTEXTURESUBIMAGE1DPROC glad_glTextureSubImage1D = NULL; -PFNGLTEXTURESUBIMAGE2DPROC glad_glTextureSubImage2D = NULL; -PFNGLTEXTURESUBIMAGE3DPROC glad_glTextureSubImage3D = NULL; -PFNGLTEXTUREVIEWPROC glad_glTextureView = NULL; -PFNGLTRANSFORMFEEDBACKBUFFERBASEPROC glad_glTransformFeedbackBufferBase = NULL; -PFNGLTRANSFORMFEEDBACKBUFFERRANGEPROC glad_glTransformFeedbackBufferRange = NULL; -PFNGLTRANSFORMFEEDBACKVARYINGSPROC glad_glTransformFeedbackVaryings = NULL; -PFNGLUNIFORM1DPROC glad_glUniform1d = NULL; -PFNGLUNIFORM1DVPROC glad_glUniform1dv = NULL; -PFNGLUNIFORM1FPROC glad_glUniform1f = NULL; -PFNGLUNIFORM1FVPROC glad_glUniform1fv = NULL; -PFNGLUNIFORM1IPROC glad_glUniform1i = NULL; -PFNGLUNIFORM1IVPROC glad_glUniform1iv = NULL; -PFNGLUNIFORM1UIPROC glad_glUniform1ui = NULL; -PFNGLUNIFORM1UIVPROC glad_glUniform1uiv = NULL; -PFNGLUNIFORM2DPROC glad_glUniform2d = NULL; -PFNGLUNIFORM2DVPROC glad_glUniform2dv = NULL; -PFNGLUNIFORM2FPROC glad_glUniform2f = NULL; -PFNGLUNIFORM2FVPROC glad_glUniform2fv = NULL; -PFNGLUNIFORM2IPROC glad_glUniform2i = NULL; -PFNGLUNIFORM2IVPROC glad_glUniform2iv = NULL; -PFNGLUNIFORM2UIPROC glad_glUniform2ui = NULL; -PFNGLUNIFORM2UIVPROC glad_glUniform2uiv = NULL; -PFNGLUNIFORM3DPROC glad_glUniform3d = NULL; -PFNGLUNIFORM3DVPROC glad_glUniform3dv = NULL; -PFNGLUNIFORM3FPROC glad_glUniform3f = NULL; -PFNGLUNIFORM3FVPROC glad_glUniform3fv = NULL; -PFNGLUNIFORM3IPROC glad_glUniform3i = NULL; -PFNGLUNIFORM3IVPROC glad_glUniform3iv = NULL; -PFNGLUNIFORM3UIPROC glad_glUniform3ui = NULL; -PFNGLUNIFORM3UIVPROC glad_glUniform3uiv = NULL; -PFNGLUNIFORM4DPROC glad_glUniform4d = NULL; -PFNGLUNIFORM4DVPROC glad_glUniform4dv = NULL; -PFNGLUNIFORM4FPROC glad_glUniform4f = NULL; -PFNGLUNIFORM4FVPROC glad_glUniform4fv = NULL; -PFNGLUNIFORM4IPROC glad_glUniform4i = NULL; -PFNGLUNIFORM4IVPROC glad_glUniform4iv = NULL; -PFNGLUNIFORM4UIPROC glad_glUniform4ui = NULL; -PFNGLUNIFORM4UIVPROC glad_glUniform4uiv = NULL; -PFNGLUNIFORMBLOCKBINDINGPROC glad_glUniformBlockBinding = NULL; -PFNGLUNIFORMMATRIX2DVPROC glad_glUniformMatrix2dv = NULL; -PFNGLUNIFORMMATRIX2FVPROC glad_glUniformMatrix2fv = NULL; -PFNGLUNIFORMMATRIX2X3DVPROC glad_glUniformMatrix2x3dv = NULL; -PFNGLUNIFORMMATRIX2X3FVPROC glad_glUniformMatrix2x3fv = NULL; -PFNGLUNIFORMMATRIX2X4DVPROC glad_glUniformMatrix2x4dv = NULL; -PFNGLUNIFORMMATRIX2X4FVPROC glad_glUniformMatrix2x4fv = NULL; -PFNGLUNIFORMMATRIX3DVPROC glad_glUniformMatrix3dv = NULL; -PFNGLUNIFORMMATRIX3FVPROC glad_glUniformMatrix3fv = NULL; -PFNGLUNIFORMMATRIX3X2DVPROC glad_glUniformMatrix3x2dv = NULL; -PFNGLUNIFORMMATRIX3X2FVPROC glad_glUniformMatrix3x2fv = NULL; -PFNGLUNIFORMMATRIX3X4DVPROC glad_glUniformMatrix3x4dv = NULL; -PFNGLUNIFORMMATRIX3X4FVPROC glad_glUniformMatrix3x4fv = NULL; -PFNGLUNIFORMMATRIX4DVPROC glad_glUniformMatrix4dv = NULL; -PFNGLUNIFORMMATRIX4FVPROC glad_glUniformMatrix4fv = NULL; -PFNGLUNIFORMMATRIX4X2DVPROC glad_glUniformMatrix4x2dv = NULL; -PFNGLUNIFORMMATRIX4X2FVPROC glad_glUniformMatrix4x2fv = NULL; -PFNGLUNIFORMMATRIX4X3DVPROC glad_glUniformMatrix4x3dv = NULL; -PFNGLUNIFORMMATRIX4X3FVPROC glad_glUniformMatrix4x3fv = NULL; -PFNGLUNIFORMSUBROUTINESUIVPROC glad_glUniformSubroutinesuiv = NULL; -PFNGLUNMAPBUFFERPROC glad_glUnmapBuffer = NULL; -PFNGLUNMAPNAMEDBUFFERPROC glad_glUnmapNamedBuffer = NULL; -PFNGLUSEPROGRAMPROC glad_glUseProgram = NULL; -PFNGLUSEPROGRAMSTAGESPROC glad_glUseProgramStages = NULL; -PFNGLVALIDATEPROGRAMPROC glad_glValidateProgram = NULL; -PFNGLVALIDATEPROGRAMPIPELINEPROC glad_glValidateProgramPipeline = NULL; -PFNGLVERTEXARRAYATTRIBBINDINGPROC glad_glVertexArrayAttribBinding = NULL; -PFNGLVERTEXARRAYATTRIBFORMATPROC glad_glVertexArrayAttribFormat = NULL; -PFNGLVERTEXARRAYATTRIBIFORMATPROC glad_glVertexArrayAttribIFormat = NULL; -PFNGLVERTEXARRAYATTRIBLFORMATPROC glad_glVertexArrayAttribLFormat = NULL; -PFNGLVERTEXARRAYBINDINGDIVISORPROC glad_glVertexArrayBindingDivisor = NULL; -PFNGLVERTEXARRAYELEMENTBUFFERPROC glad_glVertexArrayElementBuffer = NULL; -PFNGLVERTEXARRAYVERTEXBUFFERPROC glad_glVertexArrayVertexBuffer = NULL; -PFNGLVERTEXARRAYVERTEXBUFFERSPROC glad_glVertexArrayVertexBuffers = NULL; -PFNGLVERTEXATTRIB1DPROC glad_glVertexAttrib1d = NULL; -PFNGLVERTEXATTRIB1DVPROC glad_glVertexAttrib1dv = NULL; -PFNGLVERTEXATTRIB1FPROC glad_glVertexAttrib1f = NULL; -PFNGLVERTEXATTRIB1FVPROC glad_glVertexAttrib1fv = NULL; -PFNGLVERTEXATTRIB1SPROC glad_glVertexAttrib1s = NULL; -PFNGLVERTEXATTRIB1SVPROC glad_glVertexAttrib1sv = NULL; -PFNGLVERTEXATTRIB2DPROC glad_glVertexAttrib2d = NULL; -PFNGLVERTEXATTRIB2DVPROC glad_glVertexAttrib2dv = NULL; -PFNGLVERTEXATTRIB2FPROC glad_glVertexAttrib2f = NULL; -PFNGLVERTEXATTRIB2FVPROC glad_glVertexAttrib2fv = NULL; -PFNGLVERTEXATTRIB2SPROC glad_glVertexAttrib2s = NULL; -PFNGLVERTEXATTRIB2SVPROC glad_glVertexAttrib2sv = NULL; -PFNGLVERTEXATTRIB3DPROC glad_glVertexAttrib3d = NULL; -PFNGLVERTEXATTRIB3DVPROC glad_glVertexAttrib3dv = NULL; -PFNGLVERTEXATTRIB3FPROC glad_glVertexAttrib3f = NULL; -PFNGLVERTEXATTRIB3FVPROC glad_glVertexAttrib3fv = NULL; -PFNGLVERTEXATTRIB3SPROC glad_glVertexAttrib3s = NULL; -PFNGLVERTEXATTRIB3SVPROC glad_glVertexAttrib3sv = NULL; -PFNGLVERTEXATTRIB4NBVPROC glad_glVertexAttrib4Nbv = NULL; -PFNGLVERTEXATTRIB4NIVPROC glad_glVertexAttrib4Niv = NULL; -PFNGLVERTEXATTRIB4NSVPROC glad_glVertexAttrib4Nsv = NULL; -PFNGLVERTEXATTRIB4NUBPROC glad_glVertexAttrib4Nub = NULL; -PFNGLVERTEXATTRIB4NUBVPROC glad_glVertexAttrib4Nubv = NULL; -PFNGLVERTEXATTRIB4NUIVPROC glad_glVertexAttrib4Nuiv = NULL; -PFNGLVERTEXATTRIB4NUSVPROC glad_glVertexAttrib4Nusv = NULL; -PFNGLVERTEXATTRIB4BVPROC glad_glVertexAttrib4bv = NULL; -PFNGLVERTEXATTRIB4DPROC glad_glVertexAttrib4d = NULL; -PFNGLVERTEXATTRIB4DVPROC glad_glVertexAttrib4dv = NULL; -PFNGLVERTEXATTRIB4FPROC glad_glVertexAttrib4f = NULL; -PFNGLVERTEXATTRIB4FVPROC glad_glVertexAttrib4fv = NULL; -PFNGLVERTEXATTRIB4IVPROC glad_glVertexAttrib4iv = NULL; -PFNGLVERTEXATTRIB4SPROC glad_glVertexAttrib4s = NULL; -PFNGLVERTEXATTRIB4SVPROC glad_glVertexAttrib4sv = NULL; -PFNGLVERTEXATTRIB4UBVPROC glad_glVertexAttrib4ubv = NULL; -PFNGLVERTEXATTRIB4UIVPROC glad_glVertexAttrib4uiv = NULL; -PFNGLVERTEXATTRIB4USVPROC glad_glVertexAttrib4usv = NULL; -PFNGLVERTEXATTRIBBINDINGPROC glad_glVertexAttribBinding = NULL; -PFNGLVERTEXATTRIBDIVISORPROC glad_glVertexAttribDivisor = NULL; -PFNGLVERTEXATTRIBFORMATPROC glad_glVertexAttribFormat = NULL; -PFNGLVERTEXATTRIBI1IPROC glad_glVertexAttribI1i = NULL; -PFNGLVERTEXATTRIBI1IVPROC glad_glVertexAttribI1iv = NULL; -PFNGLVERTEXATTRIBI1UIPROC glad_glVertexAttribI1ui = NULL; -PFNGLVERTEXATTRIBI1UIVPROC glad_glVertexAttribI1uiv = NULL; -PFNGLVERTEXATTRIBI2IPROC glad_glVertexAttribI2i = NULL; -PFNGLVERTEXATTRIBI2IVPROC glad_glVertexAttribI2iv = NULL; -PFNGLVERTEXATTRIBI2UIPROC glad_glVertexAttribI2ui = NULL; -PFNGLVERTEXATTRIBI2UIVPROC glad_glVertexAttribI2uiv = NULL; -PFNGLVERTEXATTRIBI3IPROC glad_glVertexAttribI3i = NULL; -PFNGLVERTEXATTRIBI3IVPROC glad_glVertexAttribI3iv = NULL; -PFNGLVERTEXATTRIBI3UIPROC glad_glVertexAttribI3ui = NULL; -PFNGLVERTEXATTRIBI3UIVPROC glad_glVertexAttribI3uiv = NULL; -PFNGLVERTEXATTRIBI4BVPROC glad_glVertexAttribI4bv = NULL; -PFNGLVERTEXATTRIBI4IPROC glad_glVertexAttribI4i = NULL; -PFNGLVERTEXATTRIBI4IVPROC glad_glVertexAttribI4iv = NULL; -PFNGLVERTEXATTRIBI4SVPROC glad_glVertexAttribI4sv = NULL; -PFNGLVERTEXATTRIBI4UBVPROC glad_glVertexAttribI4ubv = NULL; -PFNGLVERTEXATTRIBI4UIPROC glad_glVertexAttribI4ui = NULL; -PFNGLVERTEXATTRIBI4UIVPROC glad_glVertexAttribI4uiv = NULL; -PFNGLVERTEXATTRIBI4USVPROC glad_glVertexAttribI4usv = NULL; -PFNGLVERTEXATTRIBIFORMATPROC glad_glVertexAttribIFormat = NULL; -PFNGLVERTEXATTRIBIPOINTERPROC glad_glVertexAttribIPointer = NULL; -PFNGLVERTEXATTRIBL1DPROC glad_glVertexAttribL1d = NULL; -PFNGLVERTEXATTRIBL1DVPROC glad_glVertexAttribL1dv = NULL; -PFNGLVERTEXATTRIBL2DPROC glad_glVertexAttribL2d = NULL; -PFNGLVERTEXATTRIBL2DVPROC glad_glVertexAttribL2dv = NULL; -PFNGLVERTEXATTRIBL3DPROC glad_glVertexAttribL3d = NULL; -PFNGLVERTEXATTRIBL3DVPROC glad_glVertexAttribL3dv = NULL; -PFNGLVERTEXATTRIBL4DPROC glad_glVertexAttribL4d = NULL; -PFNGLVERTEXATTRIBL4DVPROC glad_glVertexAttribL4dv = NULL; -PFNGLVERTEXATTRIBLFORMATPROC glad_glVertexAttribLFormat = NULL; -PFNGLVERTEXATTRIBLPOINTERPROC glad_glVertexAttribLPointer = NULL; -PFNGLVERTEXATTRIBP1UIPROC glad_glVertexAttribP1ui = NULL; -PFNGLVERTEXATTRIBP1UIVPROC glad_glVertexAttribP1uiv = NULL; -PFNGLVERTEXATTRIBP2UIPROC glad_glVertexAttribP2ui = NULL; -PFNGLVERTEXATTRIBP2UIVPROC glad_glVertexAttribP2uiv = NULL; -PFNGLVERTEXATTRIBP3UIPROC glad_glVertexAttribP3ui = NULL; -PFNGLVERTEXATTRIBP3UIVPROC glad_glVertexAttribP3uiv = NULL; -PFNGLVERTEXATTRIBP4UIPROC glad_glVertexAttribP4ui = NULL; -PFNGLVERTEXATTRIBP4UIVPROC glad_glVertexAttribP4uiv = NULL; -PFNGLVERTEXATTRIBPOINTERPROC glad_glVertexAttribPointer = NULL; -PFNGLVERTEXBINDINGDIVISORPROC glad_glVertexBindingDivisor = NULL; -PFNGLVERTEXP2UIPROC glad_glVertexP2ui = NULL; -PFNGLVERTEXP2UIVPROC glad_glVertexP2uiv = NULL; -PFNGLVERTEXP3UIPROC glad_glVertexP3ui = NULL; -PFNGLVERTEXP3UIVPROC glad_glVertexP3uiv = NULL; -PFNGLVERTEXP4UIPROC glad_glVertexP4ui = NULL; -PFNGLVERTEXP4UIVPROC glad_glVertexP4uiv = NULL; -PFNGLVIEWPORTPROC glad_glViewport = NULL; -PFNGLVIEWPORTARRAYVPROC glad_glViewportArrayv = NULL; -PFNGLVIEWPORTINDEXEDFPROC glad_glViewportIndexedf = NULL; -PFNGLVIEWPORTINDEXEDFVPROC glad_glViewportIndexedfv = NULL; -PFNGLWAITSYNCPROC glad_glWaitSync = NULL; -static void load_GL_VERSION_1_0(GLADloadproc load) -{ - if (!GLAD_GL_VERSION_1_0) - return; - glad_glCullFace = (PFNGLCULLFACEPROC)load("glCullFace"); - glad_glFrontFace = (PFNGLFRONTFACEPROC)load("glFrontFace"); - glad_glHint = (PFNGLHINTPROC)load("glHint"); - glad_glLineWidth = (PFNGLLINEWIDTHPROC)load("glLineWidth"); - glad_glPointSize = (PFNGLPOINTSIZEPROC)load("glPointSize"); - glad_glPolygonMode = (PFNGLPOLYGONMODEPROC)load("glPolygonMode"); - glad_glScissor = (PFNGLSCISSORPROC)load("glScissor"); - glad_glTexParameterf = (PFNGLTEXPARAMETERFPROC)load("glTexParameterf"); - glad_glTexParameterfv = (PFNGLTEXPARAMETERFVPROC)load("glTexParameterfv"); - glad_glTexParameteri = (PFNGLTEXPARAMETERIPROC)load("glTexParameteri"); - glad_glTexParameteriv = (PFNGLTEXPARAMETERIVPROC)load("glTexParameteriv"); - glad_glTexImage1D = (PFNGLTEXIMAGE1DPROC)load("glTexImage1D"); - glad_glTexImage2D = (PFNGLTEXIMAGE2DPROC)load("glTexImage2D"); - glad_glDrawBuffer = (PFNGLDRAWBUFFERPROC)load("glDrawBuffer"); - glad_glClear = (PFNGLCLEARPROC)load("glClear"); - glad_glClearColor = (PFNGLCLEARCOLORPROC)load("glClearColor"); - glad_glClearStencil = (PFNGLCLEARSTENCILPROC)load("glClearStencil"); - glad_glClearDepth = (PFNGLCLEARDEPTHPROC)load("glClearDepth"); - glad_glStencilMask = (PFNGLSTENCILMASKPROC)load("glStencilMask"); - glad_glColorMask = (PFNGLCOLORMASKPROC)load("glColorMask"); - glad_glDepthMask = (PFNGLDEPTHMASKPROC)load("glDepthMask"); - glad_glDisable = (PFNGLDISABLEPROC)load("glDisable"); - glad_glEnable = (PFNGLENABLEPROC)load("glEnable"); - glad_glFinish = (PFNGLFINISHPROC)load("glFinish"); - glad_glFlush = (PFNGLFLUSHPROC)load("glFlush"); - glad_glBlendFunc = (PFNGLBLENDFUNCPROC)load("glBlendFunc"); - glad_glLogicOp = (PFNGLLOGICOPPROC)load("glLogicOp"); - glad_glStencilFunc = (PFNGLSTENCILFUNCPROC)load("glStencilFunc"); - glad_glStencilOp = (PFNGLSTENCILOPPROC)load("glStencilOp"); - glad_glDepthFunc = (PFNGLDEPTHFUNCPROC)load("glDepthFunc"); - glad_glPixelStoref = (PFNGLPIXELSTOREFPROC)load("glPixelStoref"); - glad_glPixelStorei = (PFNGLPIXELSTOREIPROC)load("glPixelStorei"); - glad_glReadBuffer = (PFNGLREADBUFFERPROC)load("glReadBuffer"); - glad_glReadPixels = (PFNGLREADPIXELSPROC)load("glReadPixels"); - glad_glGetBooleanv = (PFNGLGETBOOLEANVPROC)load("glGetBooleanv"); - glad_glGetDoublev = (PFNGLGETDOUBLEVPROC)load("glGetDoublev"); - glad_glGetError = (PFNGLGETERRORPROC)load("glGetError"); - glad_glGetFloatv = (PFNGLGETFLOATVPROC)load("glGetFloatv"); - glad_glGetIntegerv = (PFNGLGETINTEGERVPROC)load("glGetIntegerv"); - glad_glGetString = (PFNGLGETSTRINGPROC)load("glGetString"); - glad_glGetTexImage = (PFNGLGETTEXIMAGEPROC)load("glGetTexImage"); - glad_glGetTexParameterfv = (PFNGLGETTEXPARAMETERFVPROC)load("glGetTexParameterfv"); - glad_glGetTexParameteriv = (PFNGLGETTEXPARAMETERIVPROC)load("glGetTexParameteriv"); - glad_glGetTexLevelParameterfv = (PFNGLGETTEXLEVELPARAMETERFVPROC)load("glGetTexLevelParameterfv"); - glad_glGetTexLevelParameteriv = (PFNGLGETTEXLEVELPARAMETERIVPROC)load("glGetTexLevelParameteriv"); - glad_glIsEnabled = (PFNGLISENABLEDPROC)load("glIsEnabled"); - glad_glDepthRange = (PFNGLDEPTHRANGEPROC)load("glDepthRange"); - glad_glViewport = (PFNGLVIEWPORTPROC)load("glViewport"); -} -static void load_GL_VERSION_1_1(GLADloadproc load) -{ - if (!GLAD_GL_VERSION_1_1) - return; - glad_glDrawArrays = (PFNGLDRAWARRAYSPROC)load("glDrawArrays"); - glad_glDrawElements = (PFNGLDRAWELEMENTSPROC)load("glDrawElements"); - glad_glPolygonOffset = (PFNGLPOLYGONOFFSETPROC)load("glPolygonOffset"); - glad_glCopyTexImage1D = (PFNGLCOPYTEXIMAGE1DPROC)load("glCopyTexImage1D"); - glad_glCopyTexImage2D = (PFNGLCOPYTEXIMAGE2DPROC)load("glCopyTexImage2D"); - glad_glCopyTexSubImage1D = (PFNGLCOPYTEXSUBIMAGE1DPROC)load("glCopyTexSubImage1D"); - glad_glCopyTexSubImage2D = (PFNGLCOPYTEXSUBIMAGE2DPROC)load("glCopyTexSubImage2D"); - glad_glTexSubImage1D = (PFNGLTEXSUBIMAGE1DPROC)load("glTexSubImage1D"); - glad_glTexSubImage2D = (PFNGLTEXSUBIMAGE2DPROC)load("glTexSubImage2D"); - glad_glBindTexture = (PFNGLBINDTEXTUREPROC)load("glBindTexture"); - glad_glDeleteTextures = (PFNGLDELETETEXTURESPROC)load("glDeleteTextures"); - glad_glGenTextures = (PFNGLGENTEXTURESPROC)load("glGenTextures"); - glad_glIsTexture = (PFNGLISTEXTUREPROC)load("glIsTexture"); -} -static void load_GL_VERSION_1_2(GLADloadproc load) -{ - if (!GLAD_GL_VERSION_1_2) - return; - glad_glDrawRangeElements = (PFNGLDRAWRANGEELEMENTSPROC)load("glDrawRangeElements"); 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-#else - sscanf(version, "%d.%d", &major, &minor); -#endif - - GLVersion.major = major; - GLVersion.minor = minor; - max_loaded_major = major; - max_loaded_minor = minor; - GLAD_GL_VERSION_1_0 = (major == 1 && minor >= 0) || major > 1; - GLAD_GL_VERSION_1_1 = (major == 1 && minor >= 1) || major > 1; - GLAD_GL_VERSION_1_2 = (major == 1 && minor >= 2) || major > 1; - GLAD_GL_VERSION_1_3 = (major == 1 && minor >= 3) || major > 1; - GLAD_GL_VERSION_1_4 = (major == 1 && minor >= 4) || major > 1; - GLAD_GL_VERSION_1_5 = (major == 1 && minor >= 5) || major > 1; - GLAD_GL_VERSION_2_0 = (major == 2 && minor >= 0) || major > 2; - GLAD_GL_VERSION_2_1 = (major == 2 && minor >= 1) || major > 2; - GLAD_GL_VERSION_3_0 = (major == 3 && minor >= 0) || major > 3; - GLAD_GL_VERSION_3_1 = (major == 3 && minor >= 1) || major > 3; - GLAD_GL_VERSION_3_2 = (major == 3 && minor >= 2) || major > 3; - GLAD_GL_VERSION_3_3 = (major == 3 && minor >= 3) || major > 3; - GLAD_GL_VERSION_4_0 = (major == 4 && minor >= 0) || major > 4; - GLAD_GL_VERSION_4_1 = (major == 4 && minor >= 1) || major > 4; - GLAD_GL_VERSION_4_2 = (major == 4 && minor >= 2) || major > 4; - GLAD_GL_VERSION_4_3 = (major == 4 && minor >= 3) || major > 4; - GLAD_GL_VERSION_4_4 = (major == 4 && minor >= 4) || major > 4; - GLAD_GL_VERSION_4_5 = (major == 4 && minor >= 5) || major > 4; - GLAD_GL_VERSION_4_6 = (major == 4 && minor >= 6) || major > 4; - if (GLVersion.major > 4 || (GLVersion.major >= 4 && GLVersion.minor >= 6)) - { - max_loaded_major = 4; - max_loaded_minor = 6; - } -} - -int gladLoadGLLoader(GLADloadproc load) -{ - GLVersion.major = 0; - GLVersion.minor = 0; - glGetString = (PFNGLGETSTRINGPROC)load("glGetString"); - if (glGetString == NULL) - return 0; - if (glGetString(GL_VERSION) == NULL) - return 0; - find_coreGL(); - load_GL_VERSION_1_0(load); - load_GL_VERSION_1_1(load); - load_GL_VERSION_1_2(load); - load_GL_VERSION_1_3(load); - load_GL_VERSION_1_4(load); - load_GL_VERSION_1_5(load); - load_GL_VERSION_2_0(load); - load_GL_VERSION_2_1(load); - load_GL_VERSION_3_0(load); - load_GL_VERSION_3_1(load); - load_GL_VERSION_3_2(load); - load_GL_VERSION_3_3(load); - load_GL_VERSION_4_0(load); - load_GL_VERSION_4_1(load); - load_GL_VERSION_4_2(load); - load_GL_VERSION_4_3(load); - load_GL_VERSION_4_4(load); - load_GL_VERSION_4_5(load); - load_GL_VERSION_4_6(load); - - if (!find_extensionsGL()) - return 0; - return GLVersion.major != 0 || GLVersion.minor != 0; -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/src/global_plan.cpp b/robot/ros_ws/src/local/planners/droan_gl/src/global_plan.cpp deleted file mode 100644 index ac89081fd..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/src/global_plan.cpp +++ /dev/null @@ -1,174 +0,0 @@ -#include - -/** - * @brief Constructor for GlobalPlan - * @param node Pointer to ROS node for parameter access - * @param tf_buffer Pointer to TF buffer for coordinate transformations - * - * Initializes global plan manager with ROS parameters. - */ -GlobalPlan::GlobalPlan(rclcpp::Node *node, tf2_ros::Buffer *tf_buffer) - : node(node), tf_buffer(tf_buffer) -{ - current_global_plan_id = -1; - next_global_plan_id = -1; - target_frame = airstack::get_param(node, "target_frame", std::string("map")); -} - -/** - * @brief Update internal global plan representation if changed - * @return True if global plan is available, false otherwise - * - * Converts ROS path message to internal trajectory representation - * and transforms to target frame when a new plan is received. - */ -bool GlobalPlan::update_global_plan() -{ - if (next_global_plan_id == -1) - return false; - - if (next_global_plan_id != current_global_plan_id) - { - global_plan = Trajectory(node, path); - global_plan = global_plan.to_frame(target_frame, path.header.stamp); - current_global_plan_id = next_global_plan_id; - } - - return true; -} - -/** - * @brief Set a new global plan from ROS message - * @param msg Path message containing the global plan - * - * Stores the path and triggers update on next access. - */ -void GlobalPlan::set_global_plan(const nav_msgs::msg::Path::SharedPtr msg) -{ - path = *msg; - next_global_plan_id = current_global_plan_id + 1; -} - -/** - * @brief Trim global plan based on current progress - * @param msg Odometry of look-ahead point - * - * Removes portions of the global plan that have already been traversed - * based on the look-ahead position, maintaining only the remaining path ahead. - */ -void GlobalPlan::trim(const airstack_msgs::msg::Odometry &msg) -{ - if (!update_global_plan()) - return; - - tf2::Vector3 look_ahead_position = tflib::to_tf(msg.pose.position); - bool success = tflib::to_frame(tf_buffer, look_ahead_position, - msg.header.frame_id, global_plan.get_frame_id(), - msg.header.stamp, &look_ahead_position); - global_plan.trim(look_ahead_position); -} - -/** - * @brief Calculate deviation and path distance for a given point - * @param x X coordinate of point in target frame - * @param y Y coordinate of point in target frame - * @param z Z coordinate of point in target frame - * @return Tuple of (deviation from path, distance along path) in meters - * - * Computes: - * - deviation: Euclidean distance from point to closest point on global path - * - path_distance: Arc length along global path to that closest point - * - * Returns (-1, -1) if no valid global plan exists. - */ -std::tuple GlobalPlan::get_distance(float x, float y, float z) -{ - if (!update_global_plan()) - return std::make_tuple(-1.f, -1.f); - - tf2::Vector3 p(x, y, z); - auto [valid, wp, index, path_distance] = global_plan.get_closest_point(p); - - if (!valid) - return std::make_tuple(-1.f, -1.f); - - return std::make_tuple(wp.position().distance(p), path_distance); -} - -/** - * @brief Publish visualization of global plan - * @param pub Publisher for marker array messages - * - * Generates and publishes visualization markers showing the - * current global plan path. - */ -void GlobalPlan::publish_vis(rclcpp::Publisher::SharedPtr pub) -{ - if (!update_global_plan()) - return; - - pub->publish(global_plan.get_markers(node->now(), "global_plan", 0, 0, 1)); -} - -/** - * @brief Apply smooth yaw angles to trajectory waypoints - * @param best_traj_msg Trajectory message to modify (modified in-place) - * @param look_ahead Odometry of look-ahead point for initial heading - * - * Computes smooth yaw angles for trajectory waypoints using: - * 1. Initial heading from look-ahead orientation - * 2. Exponential smoothing (alpha=0.1) between consecutive waypoints - * 3. Yaw calculated from velocity direction between waypoints - * - * Ensures smooth heading changes along the trajectory for better tracking. - */ -void GlobalPlan::apply_smooth_yaw(airstack_msgs::msg::TrajectoryXYZVYaw &best_traj_msg, const airstack_msgs::msg::Odometry look_ahead) -{ - bool found_initial_heading = false; - double initial_heading = 0; - try - { - tf2::Stamped transform; - tf_buffer->canTransform(best_traj_msg.header.frame_id, look_ahead.header.frame_id, - look_ahead.header.stamp, rclcpp::Duration::from_seconds(0.1)); - auto transform_msg = tf_buffer->lookupTransform(best_traj_msg.header.frame_id, - look_ahead.header.frame_id, - look_ahead.header.stamp); - tf2::fromMsg(transform_msg, transform); - - transform.setOrigin(tf2::Vector3(0, 0, 0)); // only care about rotation - initial_heading = - tf2::getYaw(transform * tflib::to_tf(look_ahead.pose.orientation)); - - found_initial_heading = true; - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(node->get_logger(), "Failed to get transform: %s", ex.what()); - } - - if (found_initial_heading) - { - best_traj_msg.waypoints[0].yaw = initial_heading; - double alpha = 0.1; - double sin_yaw_prev = sin(best_traj_msg.waypoints[0].yaw); - double cos_yaw_prev = cos(best_traj_msg.waypoints[0].yaw); - - for (size_t i = 1; i < best_traj_msg.waypoints.size(); i++) - { - airstack_msgs::msg::WaypointXYZVYaw wp_prev = best_traj_msg.waypoints[i - 1]; - airstack_msgs::msg::WaypointXYZVYaw &wp_curr = best_traj_msg.waypoints[i]; - - double yaw = atan2(wp_curr.position.y - wp_prev.position.y, - wp_curr.position.x - wp_prev.position.x); - double cos_yaw = alpha * cos(yaw) + (1 - alpha) * cos_yaw_prev; - double sin_yaw = alpha * sin(yaw) + (1 - alpha) * sin_yaw_prev; - yaw = atan2(sin_yaw, cos_yaw); - - sin_yaw_prev = sin_yaw; - cos_yaw_prev = cos_yaw; - - wp_curr.yaw = yaw; - } - } -} diff --git a/robot/ros_ws/src/local/planners/droan_gl/src/rewind_monitor.cpp b/robot/ros_ws/src/local/planners/droan_gl/src/rewind_monitor.cpp deleted file mode 100644 index 8d5560520..000000000 --- a/robot/ros_ws/src/local/planners/droan_gl/src/rewind_monitor.cpp +++ /dev/null @@ -1,242 +0,0 @@ -#include - -/** - * @brief Constructor for RewindMonitor - * @param node Pointer to ROS node for parameter access and logging - * - * Initializes rewind monitor with ROS parameters for stuck detection: - * - all_in_collision_* parameters for deadlock recovery - * - stationary_* parameters for stuck-in-place detection - * - Text marker configuration for rewind status visualization - */ -RewindMonitor::RewindMonitor(rclcpp::Node *node) - : node(node) -{ - - all_in_collision_duration_threshold = airstack::get_param(node, "all_in_collision_duration_threshold", 2.); - all_in_collision_rewind_duration = airstack::get_param(node, "all_in_collision_rewind_duration", 6.); - stationary_distance_threshold = airstack::get_param(node, "stationary_distance_threshold", 0.5); - stationary_history_duration = airstack::get_param(node, "stationary_history_duration", 10.); - stationary_rewind_distance = airstack::get_param(node, "stationary_rewind_distance", 10.); - stationary_rewind_duration = airstack::get_param(node, "stationary_rewind_duration", 20.); - - min_dt = 0.2; - all_in_collision_start_time = -1.f; - should_do_stationary_check = true; - - rewind_info_marker.ns = "rewind_info"; - rewind_info_marker.id = 0; - rewind_info_marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - rewind_info_marker.action = visualization_msgs::msg::Marker::ADD; - rewind_info_marker.pose.position.z = 3.0; - rewind_info_marker.pose.orientation.w = 1.0; - rewind_info_marker.scale.z = 0.3; - rewind_info_marker.color.r = 1.0; - rewind_info_marker.color.g = 1.0; - rewind_info_marker.color.b = 1.0; - rewind_info_marker.color.a = 1.0; - - clear.ns = rewind_info_marker.ns; - clear.action = visualization_msgs::msg::Marker::DELETEALL; -} - -/** - * @brief Update position history with new odometry - * @param msg Odometry message with robot position - * - * Maintains a sliding window of robot positions over time for - * stationary detection. Removes old data outside the history duration - * and adds new positions at the configured minimum time step. - */ -void RewindMonitor::update_odom(const airstack_msgs::msg::Odometry::SharedPtr msg) -{ - float time = rclcpp::Time(msg->header.stamp).seconds(); - if (positions.empty() || (time - positions.back().second) >= min_dt) - { - // remove old data - bool updated = false; - std::pair front; - while (!positions.empty() && (time - positions.front().second) > stationary_history_duration) - { - front = positions.front(); - positions.pop_front(); - updated = true; - } - if (updated) - positions.push_front(front); - - tf2::Vector3 pos(msg->pose.position.x, msg->pose.position.y, msg->pose.position.z); - positions.push_back(std::pair(pos, time)); - } -} - -/** - * @brief Enable or disable stationary checking - * @param b True to enable stationary checks, false to disable - * - * Allows external control of whether stationary detection should be active. - * Useful for disabling during initialization or specific flight modes. - */ -void RewindMonitor::do_stationary_check(bool b) -{ - should_do_stationary_check = b; -} - -/** - * @brief Update all-in-collision timer based on trajectory availability - * @param b True if collision-free trajectory found, false if all in collision - * - * Starts timing when all trajectories are in collision, resets when - * a valid trajectory is found. Used to trigger rewind after prolonged deadlock. - */ -void RewindMonitor::found_trajectory(bool b) -{ - if (b) - all_in_collision_start_time = -1.f; - else if (all_in_collision_start_time < 0.f) - all_in_collision_start_time = node->get_clock()->now().seconds(); -} - -/** - * @brief Manually trigger a rewind operation - * @param duration Duration to rewind in seconds (required) - * @param distance Distance to rewind in meters (optional, default -1 = not used) - * - * Initiates a rewind with specified duration and/or distance constraints. - * Rewind ends when either condition is met (whichever comes first). - */ -void RewindMonitor::trigger_rewind(float duration, float distance) -{ - rewind = Rewind(); - rewind.valid = true; - rewind.start_time = node->get_clock()->now().seconds(); - if (!positions.empty()) - rewind.start_position = positions.back().first; - rewind.duration = duration; - rewind.distance = distance; -} - -/** - * @brief Check if robot should rewind and update rewind state - * @return True if rewind is active, false otherwise - * - * Monitors two stuck conditions: - * 1. All-in-collision: All trajectories blocked for duration threshold - * 2. Stationary: Robot hasn't moved beyond distance threshold for history duration - * - * Automatically triggers appropriate rewind when conditions are met. - * Updates rewind state based on duration/distance progress. - */ -bool RewindMonitor::should_rewind() -{ - float now = node->get_clock()->now().seconds(); - - // RCLCPP_INFO_STREAM(node->get_logger(), "REWIND INFO: " - // << (now - all_in_collision_start_time) << " / " << all_in_collision_duration_threshold - // << " " << all_in_collision_start_time << " " << now); - if (rewind.valid) - { - bool valid_before = rewind.valid; - bool duration_valid = rewind.duration > 0.f; - bool distance_valid = rewind.distance > 0.f; - bool duration_ongoing = now - rewind.start_time < rewind.duration; - if (distance_valid) - { - bool distance_ongoing = rewind.start_position.distance(positions.back().first) < rewind.distance; - rewind.valid = distance_ongoing && (duration_valid && duration_ongoing); - } - else if (duration_valid) - rewind.valid = duration_ongoing; - else - rewind.valid = false; - - if (valid_before && !rewind.valid) - { - if (rewind.distance > 0.f) - positions.clear(); - else - all_in_collision_start_time = -1.f; - } - } - else - { - if (all_in_collision_start_time > 0.f && (now - all_in_collision_start_time) > all_in_collision_duration_threshold) - trigger_rewind(all_in_collision_rewind_duration); - else if (should_do_stationary_check && - !positions.empty() && - (positions.back().second - positions.front().second) >= stationary_history_duration) - { - bool stationary = true; - const tf2::Vector3 &front = positions.front().first; - const tf2::Vector3 &back = positions.back().first; - for (int i = 1; i < positions.size() - 1; i++) - { - const tf2::Vector3 &pos = positions[i].first; - if (pos.distance(front) >= stationary_distance_threshold || pos.distance(back) >= stationary_distance_threshold) - { - stationary = false; - break; - } - } - if (stationary) - trigger_rewind(stationary_rewind_duration, stationary_rewind_distance); - } - } - - return rewind.valid; -} - -/** - * @brief Clear all position history and reset rewind state - * - * Resets the rewind monitor to initial state, clearing: - * - Position history for stationary detection - * - Active rewind status - * - All-in-collision timer - */ -void RewindMonitor::clear_history() -{ - positions.clear(); - rewind.valid = false; - all_in_collision_start_time = -1.f; -} - -/** - * @brief Publish rewind status visualization - * @param pub Publisher for marker array messages - * @param frame_id Frame ID for visualization markers - * - * Publishes text marker showing: - * - Rewind progress (time and/or distance remaining) - * - All-in-collision timer status when not rewinding - * - * Marker appears as floating text near the robot. - */ -void RewindMonitor::publish_vis(rclcpp::Publisher::SharedPtr pub, std::string frame_id) -{ - rclcpp::Time now = node->get_clock()->now(); - visualization_msgs::msg::MarkerArray marker_array; - marker_array.markers.push_back(clear); - rewind_info_marker.header.frame_id = frame_id; - rewind_info_marker.header.stamp = now; - rewind_info_marker.text = ""; - if (rewind.valid) - { - if (rewind.duration > 0.f) - rewind_info_marker.text += "time: " + std::to_string(now.seconds() - rewind.start_time) + - " / " + std::to_string(rewind.duration); - if (rewind.distance > 0.f && !positions.empty()) - rewind_info_marker.text += "\ndistance: " + std::to_string(rewind.start_position.distance(positions.back().first)) + - " / " + std::to_string(rewind.distance); - } - else - { - rewind_info_marker.text += std::to_string(all_in_collision_start_time) + "\n" + std::to_string(now.seconds() - all_in_collision_start_time); - } - - // RCLCPP_INFO_STREAM(node->get_logger(), "vis: " << rewind.valid << " time: " << (rewind.duration > 0.f) << " dist: " << (rewind.distance > 0.f) - // << " " << (!positions.empty()) << " text: " << rewind_info_marker.text); - marker_array.markers.push_back(rewind_info_marker); - - pub->publish(marker_array); -} diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/CMakeLists.txt b/robot/ros_ws/src/local/planners/droan_local_planner/CMakeLists.txt deleted file mode 100644 index 4bb6006b5..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/CMakeLists.txt +++ /dev/null @@ -1,78 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(droan_local_planner) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) - -find_package(airstack_common REQUIRED) -find_package(airstack_msgs REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(cost_map_interface REQUIRED) -# find_package(disparity_graph_cost_map REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_action REQUIRED) -find_package(task_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(trajectory_controller REQUIRED) -find_package(trajectory_library REQUIRED) - -add_executable(droan_local_planner src/droan_local_planner.cpp) -target_include_directories(droan_local_planner PUBLIC - $ - $) -target_compile_features(droan_local_planner PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -ament_target_dependencies( - droan_local_planner - "airstack_msgs" - "airstack_common" - "nav_msgs" - "cost_map_interface" - # "disparity_graph_cost_map" - "trajectory_controller" - "trajectory_library" - "pluginlib" - "rclcpp" - "rclcpp_action" - "task_msgs" - "std_msgs" - "geometry_msgs" - "tf2" - "tf2_ros" -) - -install(TARGETS droan_local_planner - DESTINATION lib/${PROJECT_NAME}) - -install(DIRECTORY - launch - DESTINATION share/${PROJECT_NAME}) - -install(DIRECTORY - config - DESTINATION share/${PROJECT_NAME}) - - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/README.md b/robot/ros_ws/src/local/planners/droan_local_planner/README.md deleted file mode 100644 index 15842f7fe..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/README.md +++ /dev/null @@ -1,168 +0,0 @@ -# DROAN Local Planner - -## Overview - -DROAN Local Planner is a disparity-based local obstacle avoidance planner based on the publication ["DROAN - Disparity-space representation for obstacle avoidance."](https://www.ri.cmu.edu/app/uploads/2018/01/root.pdf) It selects the best collision-free trajectory from a pre-generated library by evaluating each candidate against a CPU-based cost map built from stereo disparity observations. - -This is the CPU implementation. For the GPU-accelerated alternative that uses OpenGL for disparity expansion and collision checking, see [droan_gl](../droan_gl/README.md). - -## How It Works - -### 1. Cost Map (Disparity Graph) - -The cost map is built by three supporting packages: - -1. **disparity_expansion** — takes stereo disparity and expands each obstacle point outward by the robot radius, producing a 3D obstacle cloud in C-space -2. **disparity_graph** — maintains a rolling graph of (pose, obstacle cloud) observations, discarding old entries as the drone moves -3. **disparity_graph_cost_map** — queries the disparity graph to assign a collision cost to any 3D point in space - -The cost map plugin is configurable via the `cost_map` parameter; the shipped `config/droan.yaml` sets `disparity_graph_cost_map::DisparityGraphCostMap` (the code's declared default is `PointCloudMapRepresentation`). - -### 2. Trajectory Library - -A fixed set of candidate trajectories (snap-based splines in different directions) is loaded from a YAML config file at startup. Each trajectory is a sequence of 3D waypoints parameterized by time. - -### 3. Trajectory Scoring (5 Hz) - -At each planning step, every trajectory in the library is evaluated: - -- Each waypoint is queried in the cost map to get an obstacle cost. -- A **safety cost** is computed from the maximum obstacle cost along the trajectory (or only the last waypoint, if `evaluate_only_last_waypoint` is set). -- A **deviation cost** measures lateral distance from the global plan at the trajectory endpoint. -- A **forward progress** term rewards trajectories whose endpoint is farther along the global plan. - -The composite cost is: - -```text -cost = safety_cost_weight * safety_cost - + deviation_from_global_plan_weight * deviation - - forward_progress_forgiveness_weight * progress -``` - -The trajectory with the lowest cost is published. - -### 4. Goal Modes - -The planner supports three goal modes: - -- **`GLOBAL_PLAN`** — scores trajectories against the subscribed global plan path. The planner finds the closest point on the global plan to the drone and trims the path from that point forward. This is the mode used when a NavigateTask goal is active. -- **`CUSTOM_WAYPOINT`** — scores toward a single manually commanded waypoint (`custom_waypoint` topic). -- **`AUTO_WAYPOINT`** — scores toward waypoints interpolated from a rolling buffer of past drone positions (useful for unguided exploration without a global plan). - -### 5. Rewind Monitoring - -Two stuck conditions trigger a map-clearing rewind: - -| Condition | Threshold parameter | Recovery | -| --------- | ------------------- | -------- | -| All trajectories in collision | `all_in_collision_duration_threshold` | Rewind for `map_clearing_max_rewind_time` or `map_clearing_rewind_distance` | -| Drone stationary too long | `stuck_duration_threshold`, `stationary_distance_threshold` | Same rewind | - -After a rewind, the planner waits `map_clearing_wait_time` seconds before triggering another rewind to allow the cost map to update. - ---- - -## Task Executor - -This node is a **task executor**: it runs as a ROS 2 action server and is activated on demand via a `NavigateTask` goal. It does not plan continuously — planning only happens while a goal is active. - -**Action server:** `/{robot_name}/tasks/navigate` -**Type:** `task_msgs/action/NavigateTask` - -### Cascade - -```text -random_walk_planner → NavigateTask → droan_local_planner - ↓ - trajectory_segment_to_add - ↓ - trajectory_controller -``` - -### Goal parameters - -| Field | Type | Description | -| ----- | ---- | ----------- | -| `global_plan` | nav_msgs/Path | Path to follow; last pose is the goal | -| `goal_tolerance_m` | float32 | Distance from goal pose to consider task complete (m) | - -### Feedback (published ~1 Hz) - -| Field | Type | Description | -| ----- | ---- | ----------- | -| `status` | string | `"navigating"` | -| `distance_to_goal` | float32 | 3D Euclidean distance to goal pose (m) | -| `current_position` | geometry_msgs/Point | Current tracking point position | - -### Result - -| Field | Type | Description | -| ----- | ---- | ----------- | -| `success` | bool | True if goal pose reached within tolerance; false if canceled or error | -| `message` | string | `"Goal reached"`, `"Canceled"`, or `"Node shutting down"` | - -### Trajectory controller mode - -On goal acceptance the node calls the `set_trajectory_mode` service with mode `ADD_SEGMENT`, enabling the trajectory controller to extend the trajectory buffer as new segments arrive. On goal completion or cancellation it restores mode `TRACK`. - -### CLI test - -```bash -ros2 action send_goal /robot_1/tasks/navigate task_msgs/action/NavigateTask \ - '{global_plan: {header: {frame_id: "map"}, poses: [{pose: {position: {x: 10.0, y: 0.0, z: 3.0}}}]}, goal_tolerance_m: 1.0}' \ - --feedback -``` - ---- - -## Parameters - -| Parameter | Default | Description | -| --------- | ------- | ----------- | -| `execute_rate` | `5.0` | Planning rate (Hz) | -| `trajectory_library_config` | `""` | Path to trajectory library YAML | -| `cost_map` | `"PointCloudMapRepresentation"` | Cost map plugin class name | -| `safety_cost_weight` | `1.0` | Weight for obstacle cost in scoring | -| `deviation_from_global_plan_weight` | `1.0` | Weight for lateral deviation from global plan | -| `forward_progress_forgiveness_weight` | `0.5` | Weight for rewarding forward progress along plan | -| `obstacle_check_radius` | `1.0` | Radius (m) around each waypoint to check for obstacles; must be > robot radius | -| `evaluate_only_last_waypoint` | `false` | Score only the trajectory endpoint instead of all waypoints | -| `yaw_mode` | `"SMOOTH_YAW"` | `"SMOOTH_YAW"` or `"TRAJECTORY_YAW"` — how to assign yaw to output trajectory | -| `auto_waypoint_buffer_duration` | `30.0` | Seconds of past trajectory to buffer for AUTO_WAYPOINT mode | -| `auto_waypoint_spacing_threshold` | `0.5` | Min spacing (m) between buffered auto waypoints | -| `auto_waypoint_angle_threshold` | `30.0` | Min angle change (deg) to add a new auto waypoint | -| `custom_waypoint_timeout_factor` | `0.3` | Fraction of estimated travel time before custom waypoint times out | -| `custom_waypoint_distance_threshold` | `0.5` | Distance (m) to consider custom waypoint reached | -| `stuck_duration_threshold` | `6.0` | Seconds stationary before triggering rewind | -| `all_in_collision_duration_threshold` | `2.0` | Seconds all trajectories must be in collision to trigger rewind | -| `stationary_distance_threshold` | `0.5` | Max movement (m) over history window to be considered stationary | -| `stationary_history_duration` | `10.0` | Observation window (s) for stationary detection | -| `map_clearing_max_rewind_time` | `10.0` | Max rewind duration (s) | -| `map_clearing_rewind_distance` | `1.5` | Target rewind distance (m) | -| `map_clearing_wait_time` | `30.0` | Seconds to wait between rewinding again | - ---- - -## Subscriptions - -| Topic | Type | Description | -| ----- | ---- | ----------- | -| `global_plan` | nav_msgs/Path | Global path for trajectory scoring (also set via NavigateTask goal) | -| `look_ahead` | airstack_msgs/Odometry | Look-ahead point from trajectory controller (trajectory planning origin) | -| `tracking_point` | airstack_msgs/Odometry | Current robot tracking point (for goal distance and stuck detection) | -| `custom_waypoint` | geometry_msgs/PoseStamped | Override waypoint for CUSTOM_WAYPOINT mode | -| `reset_stuck` | std_msgs/Empty | Manually clear stuck detection history | -| `clear_map` | std_msgs/Empty | Trigger map clearing | - -## Publications - -| Topic | Type | Description | -| ----- | ---- | ----------- | -| `trajectory_segment_to_add` | airstack_msgs/TrajectoryXYZVYaw | Best local trajectory segment | -| `trajectory_override` | airstack_msgs/TrajectoryXYZVYaw | Direct trajectory override (used during rewind) | -| `local_planner_global_plan_vis` | visualization_msgs/MarkerArray | Global plan visualization | -| `trajectory_library_vis` | visualization_msgs/MarkerArray | Trajectory library with collision status coloring | -| `stuck` | std_msgs/Bool | True when rewind is active | -| `rewind_info` | visualization_msgs/MarkerArray | Rewind status text markers | -| `obstacle_vis` | sensor_msgs/Range | Nearest obstacle distance (visualization) | -| `map_clearing_point` | geometry_msgs/PoseStamped | Target point for map clearing visualization | diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/config/droan.yaml b/robot/ros_ws/src/local/planners/droan_local_planner/config/droan.yaml deleted file mode 100644 index 31bbd6ae6..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/config/droan.yaml +++ /dev/null @@ -1,63 +0,0 @@ -/**: - ros__parameters: - - # execution rate in hz - execute_rate: 5.0 - - - # Trajectory parameters - trajectory_library_config: "$(find-pkg-share trajectory_library)/config/long.yaml" - dt: 0.2 - ht: 2.4 - ht_long: 3.0 - max_velocity: 1.0 - magnitude: 0.5 - - # DROAN parameters - robot_radius: 1.0 - safety_cost_weight: 1.0 - deviation_from_global_plan_weight: 1.0 - forward_progress_forgiveness_weight: 1.0 - evaluate_only_last_waypoint: true # only use the last waypoint for forward progress and global plan deviation checking - - # map parameters. see disparity_graph_cost_map.cpp - cost_map: disparity_graph_cost_map::DisparityGraphCostMap - obstacle_check_radius: 1.0 # this value MUST be strictly greater than the robot radius - obstacle_check_num_points: 2 - # disparity graph parameters. see disparity_graph.hpp - fixed_frame: "map" - stabilized_frame: "base_link_stabilized" # the frame of the stabilized robot (roll and pitch removed) - baseline_fallback: 0.12 # if the baseline is 0 from the camera_info, use this value instead. in meters - assume_seen_within_radius: 1.5 # anything within this radius, assume it is seen and don't check for obstacles - - everything_seen_and_free: false - use_virtual_cylinder: false - virtual_cylinder_x: 10.0 - virtual_cylinder_y: 0.0 - virtual_cylinder_radius: 8.0 - - # GLOBAL_PLAN mode parameters - # 0: use the yaw of the subscribed traj, 1: smoothly vary the yaw in the direction of the subscribed trajectory - # either SMOOTH_YAW or TRAJECTORY_YAW - yaw_mode: SMOOTH_YAW - - # AUTO_WAYPOINT mode parameters - auto_waypoint_buffer_duration: 30.0 - auto_waypoint_spacing_threshold: 0.5 - auto_waypoint_angle_threshold: 30.0 - - # CUSTOM_WAYPOINT mode parameters - custom_waypoint_timeout_factor: 0.3 - custom_waypoint_distance_threshold: 0.5 - - # Disparity Graph parameters - graph_size: 5 - - # Rewind parameters - stuck_duration_threshold: 6.0 - all_in_collision_duration_threshold: 2.0 - map_clearing_max_rewind_time: 20.0 - map_clearing_rewind_distance: 5.0 - stationary_distance_threshold: 0.5 - stationary_history_duration: 10.0 - map_clearing_wait_time: 30.0 \ No newline at end of file diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/include/droan_local_planner/droan_local_planner.hpp b/robot/ros_ws/src/local/planners/droan_local_planner/include/droan_local_planner/droan_local_planner.hpp deleted file mode 100644 index 857ddc2f8..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/include/droan_local_planner/droan_local_planner.hpp +++ /dev/null @@ -1,1111 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#pragma once - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using std::placeholders::_1; - -inline std::ostream &operator<<(std::ostream &os, const rclcpp::Time &t) -{ - os << t.seconds() << "s"; - return os; -} - -class DroanLocalPlanner : public rclcpp::Node -{ -private: - std::unique_ptr traj_lib; - - std::string map_representation_class_string; - bool is_global_plan_received; - nav_msgs::msg::Path global_plan_msg; - double global_plan_trajectory_distance; - bool is_look_ahead_received, is_tracking_point_received; - - // look ahead is - airstack_msgs::msg::Odometry look_ahead_odom, tracking_point_odom; - - double execute_rate, obstacle_check_radius, safety_cost_weight, - deviation_from_global_plan_weight, forward_progress_forgiveness_weight; - bool evaluate_only_last_waypoint; - - float auto_waypoint_buffer_duration, auto_waypoint_spacing_threshold, - auto_waypoint_angle_threshold; - std::list waypoint_buffer; - - enum YawMode - { - TRAJECTORY_YAW, - SMOOTH_YAW - }; - YawMode yaw_mode; - - // whether to follow the global plan, a custom waypoint, or automatically interpolated waypoints - enum GoalMode - { - GLOBAL_PLAN, - CUSTOM_WAYPOINT, - AUTO_WAYPOINT - }; - GoalMode goal_mode; - double custom_waypoint_timeout_factor, custom_waypoint_distance_threshold; - - std::shared_ptr cost_map; - - airstack::TimeOutMonitor *stuck_monitor; - airstack::TimeOutMonitor *all_in_collision_monitor; - airstack::TimeOutMonitor *map_clearing_rewind_monitor; - airstack::TemporalThresholdMonitor *stationary_monitor; - double stuck_duration_threshold; - double all_in_collision_duration_threshold; - double map_clearing_max_rewind_time; - double map_clearing_rewind_distance; - double stationary_distance_threshold; - double stationary_history_duration; - double map_clearing_wait_time; - tf2::Vector3 map_clearing_point; - rclcpp::Time map_clearing_time; - - visualization_msgs::msg::Marker rewind_info_marker; - - std::set namespaces; - - std::shared_ptr tf_buffer_ptr; - tf2_ros::TransformListener tf_listener; - - rclcpp::Subscription::SharedPtr global_plan_sub; - rclcpp::Subscription::SharedPtr waypoint_sub; - rclcpp::Subscription::SharedPtr look_ahead_sub; - rclcpp::Subscription::SharedPtr tracking_point_sub; - rclcpp::Subscription::SharedPtr custom_waypoint_sub; - rclcpp::Subscription::SharedPtr reset_stuck_sub; - rclcpp::Subscription::SharedPtr clear_map_sub; - - rclcpp::Publisher::SharedPtr traj_lib_vis_pub; - rclcpp::Publisher::SharedPtr traj_pub; - rclcpp::Publisher::SharedPtr traj_track_pub; - rclcpp::Publisher::SharedPtr obst_vis_pub; - rclcpp::Publisher::SharedPtr global_plan_vis_pub; - rclcpp::Publisher::SharedPtr map_clearing_point_pub; - rclcpp::Publisher::SharedPtr stuck_pub; - rclcpp::Publisher::SharedPtr rewind_info_pub; - - rclcpp::Publisher::SharedPtr map_debug_pub; - - rclcpp::TimerBase::SharedPtr execute_timer; - - // NavigateTask action server - using NavigateTask = task_msgs::action::NavigateTask; - using NavigateGoalHandle = rclcpp_action::ServerGoalHandle; - rclcpp_action::Server::SharedPtr navigate_action_server_; - rclcpp::Client::SharedPtr trajectory_mode_client_; - std::atomic task_active_{false}; - std::atomic cancel_requested_{false}; - -public: - DroanLocalPlanner() - : Node("droan_local_planner"), - goal_mode(GLOBAL_PLAN), - tf_buffer_ptr(new tf2_ros::Buffer(this->get_clock())), - tf_listener(*tf_buffer_ptr) - { - // follow the global plan - global_plan_sub = this->create_subscription( - "global_plan", 10, std::bind(&DroanLocalPlanner::global_plan_callback, this, _1)); - waypoint_sub = this->create_subscription( - "way_point", 10, std::bind(&DroanLocalPlanner::waypoint_callback, this, _1)); - // from the trajectory controller, the expected look ahead point to start the next - // trajectory - look_ahead_sub = this->create_subscription( - "look_ahead", 10, std::bind(&DroanLocalPlanner::look_ahead_callback, this, _1)); - // from the tracking controller, the current position of the drone - tracking_point_sub = this->create_subscription( - "tracking_point", 10, std::bind(&DroanLocalPlanner::tracking_point_callback, this, _1)); - custom_waypoint_sub = this->create_subscription( - "custom_waypoint", 1, - std::bind(&DroanLocalPlanner::custom_waypoint_callback, this, _1)); - reset_stuck_sub = this->create_subscription( - "reset_stuck", 1, - std::bind(&DroanLocalPlanner::reset_stuck_callback, this, _1)); - clear_map_sub = this->create_subscription( - "clear_map", 1, - std::bind(&DroanLocalPlanner::clear_map_callback, this, _1)); - - // publishers - traj_lib_vis_pub = this->create_publisher( - "trajectory_library_vis", 10); - obst_vis_pub = this->create_publisher("obstacle_vis", 10); - global_plan_vis_pub = this->create_publisher( - "local_planner_global_plan_vis", 10); - traj_pub = this->create_publisher( - "trajectory_segment_to_add", 10); - traj_track_pub = this->create_publisher( - "trajectory_override", 10); - map_clearing_point_pub = this->create_publisher( - "map_clearing_point", 10); - stuck_pub = this->create_publisher( - "stuck", 10); - rewind_info_pub = this->create_publisher( - "rewind_info", 10); - - map_debug_pub = - this->create_publisher("disparity_map_debug", 1); - - // init parameters - this->declare_parameter("execute_rate", 5.); - this->get_parameter("execute_rate", this->execute_rate); - this->declare_parameter("safety_cost_weight", 1.); - this->get_parameter("safety_cost_weight", safety_cost_weight); - this->declare_parameter("deviation_from_global_plan_weight", 1.); - this->get_parameter("deviation_from_global_plan_weight", deviation_from_global_plan_weight); - this->declare_parameter("obstacle_check_radius", 1.); - this->get_parameter("obstacle_check_radius", obstacle_check_radius); - this->declare_parameter("forward_progress_forgiveness_weight", 0.5); - this->get_parameter("forward_progress_forgiveness_weight", - forward_progress_forgiveness_weight); - this->declare_parameter("evaluate_only_last_waypoint", false); - this->get_parameter("evaluate_only_last_waypoint", - evaluate_only_last_waypoint); - this->declare_parameter("yaw_mode", "SMOOTH_YAW"); - auto yaw_mode_str = this->get_parameter("yaw_mode").as_string(); - if (yaw_mode_str == "TRAJECTORY_YAW") - { - this->yaw_mode = TRAJECTORY_YAW; - } - else if (yaw_mode_str == "SMOOTH_YAW") - { - this->yaw_mode = SMOOTH_YAW; - } - else - { - RCLCPP_ERROR(this->get_logger(), "Invalid yaw_mode parameter"); - } - this->declare_parameter("cost_map", std::string("PointCloudMapRepresentation")); - this->get_parameter("cost_map", map_representation_class_string); - this->declare_parameter("auto_waypoint_buffer_duration", 30.); - this->get_parameter("auto_waypoint_buffer_duration", auto_waypoint_buffer_duration); - this->declare_parameter("auto_waypoint_spacing_threshold", 0.5); - this->get_parameter("auto_waypoint_spacing_threshold", auto_waypoint_spacing_threshold); - this->declare_parameter("auto_waypoint_angle_threshold", 30. * M_PI / 180.); - this->get_parameter("auto_waypoint_angle_threshold", auto_waypoint_angle_threshold); - - this->declare_parameter("custom_waypoint_timeout_factor", 0.3); - this->get_parameter("custom_waypoint_timeout_factor", custom_waypoint_timeout_factor); - this->declare_parameter("custom_waypoint_distance_threshold", 0.5); - this->get_parameter("custom_waypoint_distance_threshold", - custom_waypoint_distance_threshold); - - RCLCPP_INFO_STREAM(this->get_logger(), "DROAN node name is: " << this->get_name()); - this->declare_parameter("trajectory_library_config", std::string("")); - - stuck_duration_threshold = airstack::get_param(this, "stuck_duration_threshold", 6.0); - all_in_collision_duration_threshold = airstack::get_param(this, "all_in_collision_duration_threshold", 2.0); - map_clearing_max_rewind_time = airstack::get_param(this, "map_clearing_max_rewind_time", 10.0); - map_clearing_rewind_distance = airstack::get_param(this, "map_clearing_rewind_distance", 1.5); - stationary_distance_threshold = airstack::get_param(this, "stationary_distance_threshold", 0.5); - stationary_history_duration = airstack::get_param(this, "stationary_history_duration", 10.0); - map_clearing_wait_time = airstack::get_param(this, "map_clearing_wait_time", 30.0); - - map_clearing_time = this->now() - rclcpp::Duration(1000, 0); - - stuck_monitor = new airstack::TimeOutMonitor(stuck_duration_threshold); - all_in_collision_monitor = new airstack::TimeOutMonitor(all_in_collision_duration_threshold); - map_clearing_rewind_monitor = new airstack::TimeOutMonitor(map_clearing_max_rewind_time); - stationary_monitor = new airstack::TemporalThresholdMonitor(stationary_distance_threshold, - stationary_history_duration, - 0.2f, - airstack::vector3_distance); - - rewind_info_marker.ns = "rewind_info"; - rewind_info_marker.id = 0; - rewind_info_marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - rewind_info_marker.action = visualization_msgs::msg::Marker::ADD; - rewind_info_marker.pose.orientation.w = 1.0; - rewind_info_marker.scale.z = 0.3; - rewind_info_marker.color.r = 1.0; - rewind_info_marker.color.g = 1.0; - rewind_info_marker.color.b = 1.0; - rewind_info_marker.color.a = 1.0; - - trajectory_mode_client_ = - this->create_client("set_trajectory_mode"); - - navigate_action_server_ = rclcpp_action::create_server( - this, "~/navigate_task", - std::bind(&DroanLocalPlanner::handle_navigate_goal, this, - std::placeholders::_1, std::placeholders::_2), - std::bind(&DroanLocalPlanner::handle_navigate_cancel, this, std::placeholders::_1), - std::bind(&DroanLocalPlanner::handle_navigate_accepted, this, std::placeholders::_1)); - - RCLCPP_INFO(this->get_logger(), "DroanLocalPlanner initialized, waiting for NavigateTask goals"); - } - - void initialize() - { - pluginlib::ClassLoader map_representation_loader( - "cost_map_interface", "cost_map_interface::CostMapInterface"); - auto node_ptr = this->shared_from_this(); - this->cost_map = - map_representation_loader.createSharedInstance(map_representation_class_string); - this->cost_map->initialize(node_ptr, tf_buffer_ptr); - this->traj_lib = std::make_unique( - this->get_parameter("trajectory_library_config").as_string(), node_ptr); - double interval = 1. / this->execute_rate; - this->execute_timer = - rclcpp::create_timer(this, this->get_clock(), rclcpp::Duration::from_seconds(interval), - std::bind(&DroanLocalPlanner::execute, this)); - } - - virtual ~DroanLocalPlanner() {} - - virtual bool execute() - { - this->update_waypoint_mode(); - - if (!this->is_global_plan_received) - { - RCLCPP_INFO_ONCE(this->get_logger(), "Waiting for global plan"); - return true; - } - if (!this->is_look_ahead_received) - { - RCLCPP_INFO_ONCE(this->get_logger(), "Waiting for look ahead point"); - return true; - } - - // check if we are stuck or are rewinding after clearing the map - std_msgs::msg::Bool stuck_msg; - stuck_msg.data = !stuck_monitor->is_timed_out(this->now()) || !map_clearing_rewind_monitor->is_timed_out(this->now()); - stuck_pub->publish(stuck_msg); - - Trajectory global_plan(this, global_plan_msg); - - // transform the look ahead point to the global plan frame - tf2::Vector3 look_ahead_position = tflib::to_tf(look_ahead_odom.pose.position); - bool success = tflib::to_frame(tf_buffer_ptr.get(), look_ahead_position, - look_ahead_odom.header.frame_id, global_plan.get_frame_id(), - look_ahead_odom.header.stamp, &look_ahead_position); - if (!success) - { - RCLCPP_ERROR_STREAM(this->get_logger(), - "Couldn't transform from lookahead frame to global plan frame"); - return true; - } - - // increment how far along the global plan we are - double trajectory_distance; - bool is_valid = global_plan.get_trajectory_distance_at_closest_point(look_ahead_position, - &trajectory_distance); - // trim the global plan to only the next 100 meters - if (is_valid) - { - trajectory_distance = std::max(trajectory_distance, this->global_plan_trajectory_distance); - global_plan = global_plan.get_trimmed_trajectory_between_distances(trajectory_distance, trajectory_distance + std::numeric_limits::infinity()); - // RCLCPP_INFO_STREAM(this->get_logger(), "using global plan from distance " << trajectory_distance); - this->global_plan_trajectory_distance = trajectory_distance; - } - else - { - RCLCPP_INFO(this->get_logger(), "invalid"); - } - - // publish the trimmed segment of the global plan currently being used, for visualization - visualization_msgs::msg::MarkerArray global_markers = - global_plan.get_markers(this->now(), "global_plan", 0, 0, 1); - global_plan_vis_pub->publish(global_markers); - - // get the dynamic trajectories - std::vector dynamic_trajectories = - traj_lib->get_dynamic_trajectories(look_ahead_odom); - - // // debug to just one trajectory - // dynamic_trajectories.resize(1); - - // pick the best trajectory - auto [is_success, best_traj] = this->get_best_trajectory(dynamic_trajectories, global_plan); - - // publish the trajectory - if (is_success) - { - airstack_msgs::msg::TrajectoryXYZVYaw best_traj_msg = - best_traj.get_TrajectoryXYZVYaw_msg(); - - // set yaw - if (yaw_mode == SMOOTH_YAW && best_traj.get_num_waypoints() > 0) - { - apply_smooth_yaw(best_traj_msg); - } - best_traj_msg.header.stamp = this->now(); - - // only publish the trajectory if we aren't rewinding because of being stuck - if (stuck_monitor->is_timed_out(this->now())) - traj_pub->publish(best_traj_msg); - all_in_collision_monitor->add_time(this->now()); - - RCLCPP_DEBUG_STREAM(this->get_logger(), "Published local trajectory"); - } - else - { - RCLCPP_INFO_STREAM( - this->get_logger(), - "No valid trajectories, all trajectories either collide or are unseen"); - if (all_in_collision_monitor->is_timed_out(this->now()) && stuck_monitor->is_timed_out(this->now())) - { - RCLCPP_INFO_STREAM(this->get_logger(), "ALL IN COLLISION"); - stuck_monitor->add_time(this->now()); - } - } - return true; - } - - /** - * @brief Get the best trajectory based on the cost function. Minimize the cost - * - * @param trajectory_candidates - * @param global_plan - * @return std::tuple is_success: whether there exists a valid collision-free - * trajectory, best_traj: the best trajectory - */ - std::tuple get_best_trajectory( - const std::vector &trajectory_candidates, Trajectory global_plan) - { - auto now = this->now(); - - bool is_at_least_one_trajectory_valid = false; - Trajectory best_traj_ret; - double min_cost = std::numeric_limits::max(); - - visualization_msgs::msg::MarkerArray traj_lib_marker_arr; - std::unordered_map next_id; - - auto trajectory_safety_costs_per_waypoint = - this->cost_map->get_trajectory_costs_per_waypoint(trajectory_candidates); - - // for each trajectory - for (size_t i = 0; i < trajectory_candidates.size(); ++i) - { - Trajectory traj = trajectory_candidates[i]; - - Trajectory global_plan_in_traj_frame; - try - { - global_plan_in_traj_frame = global_plan.to_frame(traj.get_frame_id(), now); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(this->get_logger(), - "Failed to transform global plan to trajectory frame: %s", ex.what()); - return {false, best_traj_ret}; - } - - bool is_traj_unsafe_because_occupied = false; - bool is_traj_unsafe_because_unobserved = false; - - double max_safety_cost = -std::numeric_limits::infinity(); - double deviation_from_global_plan = std::numeric_limits::infinity(); - double forward_progress_forgiveness = -std::numeric_limits::infinity(); - // std::cout << "Trajectory " << i << " safety costs: "; - // for each waypoint in the trajectory, fetch its - // (1) safety cost and (2) deviation from global plan cost - for (size_t j = 0; j < traj.get_num_waypoints(); j++) - { - Waypoint wp = traj.get_waypoint(j); - - double safety_cost = trajectory_safety_costs_per_waypoint.at(i).at(j); - - // std::cout << safety_cost << " "; - - if (std::isinf(safety_cost)) - { - is_traj_unsafe_because_occupied = true; - // don't consider this trajectory as a best option, just add the debug marker - goto add_marker; - } - else if (std::isnan(safety_cost)) - { - is_traj_unsafe_because_unobserved = true; - goto add_marker; - } - else - { - max_safety_cost = std::max(max_safety_cost, safety_cost); - } - - // get the closest global plan point to the current trajectory waypoint - auto [is_valid, closest_waypoint_to_global_plan, wp_index, path_distance] = - global_plan_in_traj_frame.get_closest_point(wp.position()); - - if (is_valid && (!evaluate_only_last_waypoint || (evaluate_only_last_waypoint && j == traj.get_num_waypoints() - 1))) - { - if (std::isinf(deviation_from_global_plan)) - deviation_from_global_plan = 0; - if (std::isinf(forward_progress_forgiveness)) - forward_progress_forgiveness = 0; - - // reward making progress along the global plan - forward_progress_forgiveness += path_distance; - - deviation_from_global_plan += - closest_waypoint_to_global_plan.position().distance(wp.position()); - } - } - if (std::isinf(max_safety_cost)) - max_safety_cost = std::numeric_limits::infinity(); - - if (!evaluate_only_last_waypoint) - { - forward_progress_forgiveness /= traj.get_num_waypoints(); - deviation_from_global_plan /= traj.get_num_waypoints(); - } - deviation_from_global_plan *= deviation_from_global_plan_weight; - forward_progress_forgiveness *= forward_progress_forgiveness_weight; - max_safety_cost *= safety_cost_weight; - - // bigger distance from obstacles makes the cost smaller (more negative). cap by the - // obstacle check radius - double cost; - if (!is_traj_unsafe_because_occupied && !is_traj_unsafe_because_unobserved) - { - is_at_least_one_trajectory_valid = true; - - cost = deviation_from_global_plan - forward_progress_forgiveness + max_safety_cost; - if (cost < min_cost) - { - min_cost = cost; - best_traj_ret = traj; - } - } - - add_marker: - // std::cout << std::endl; - - // TODO: factor out this marker stuff - std::string marker_ns = "trajectory_" + std::to_string(i); - - visualization_msgs::msg::MarkerArray traj_markers; - std::string text = "X_" + std::to_string(max_safety_cost) + "\n" + - "|_" + std::to_string(deviation_from_global_plan) + "\n" + - ">_" + std::to_string(-forward_progress_forgiveness) + "\n" + - std::to_string(cost); - - if (is_traj_unsafe_because_unobserved) // gray for unobserved - traj_markers = traj.get_markers(this->now(), "unseen", .7, .7, .7, .3, false, false, 0.03f, text); - else if (is_traj_unsafe_because_occupied) // red for collision - traj_markers = traj.get_markers(this->now(), "collision", 1, 0, 0, .3, false, false, 0.03f, text); - else // green for no collision - traj_markers = traj.get_markers(this->now(), "free", 0, 1, 0, .5, false, false, 0.03f, text); - - for (visualization_msgs::msg::Marker &marker : traj_markers.markers) - { - namespaces.insert(marker.ns); - if (next_id.count(marker.ns) == 0) - next_id[marker.ns] = 0; - - marker.id = next_id[marker.ns]++; - } - - traj_lib_marker_arr.markers.insert(traj_lib_marker_arr.markers.end(), - traj_markers.markers.begin(), - traj_markers.markers.end()); - } - - for (visualization_msgs::msg::Marker &marker : traj_lib_marker_arr.markers) - if (marker.action == visualization_msgs::msg::Marker::DELETEALL) - marker.action = visualization_msgs::msg::Marker::ADD; - for (const std::string &ns : namespaces) - { - visualization_msgs::msg::Marker clear; - clear.ns = ns; - clear.action = visualization_msgs::msg::Marker::DELETEALL; - traj_lib_marker_arr.markers.insert(traj_lib_marker_arr.markers.begin(), clear); - } - traj_lib_vis_pub->publish(traj_lib_marker_arr); - map_debug_pub->publish(this->cost_map->get_debug_markerarray()); - - return {is_at_least_one_trajectory_valid, best_traj_ret}; - } - - /** - * @brief Applies a smoothing filter to the yaw of the trajectory - */ - void apply_smooth_yaw(airstack_msgs::msg::TrajectoryXYZVYaw &best_traj_msg) - { - bool found_initial_heading = false; - double initial_heading = 0; - try - { - tf2::Stamped transform; - tf_buffer_ptr->canTransform( - best_traj_msg.header.frame_id, look_ahead_odom.header.frame_id, - look_ahead_odom.header.stamp, rclcpp::Duration::from_seconds(0.1)); - auto transform_msg = tf_buffer_ptr->lookupTransform(best_traj_msg.header.frame_id, - look_ahead_odom.header.frame_id, - look_ahead_odom.header.stamp); - tf2::fromMsg(transform_msg, transform); - - transform.setOrigin(tf2::Vector3(0, 0, 0)); // only care about rotation - initial_heading = - tf2::getYaw(transform * tflib::to_tf(look_ahead_odom.pose.orientation)); - - found_initial_heading = true; - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(this->get_logger(), "Failed to get transform: %s", ex.what()); - } - - if (found_initial_heading) - { - best_traj_msg.waypoints[0].yaw = initial_heading; - double alpha = 0.1; - double sin_yaw_prev = sin(best_traj_msg.waypoints[0].yaw); - double cos_yaw_prev = cos(best_traj_msg.waypoints[0].yaw); - - for (size_t i = 1; i < best_traj_msg.waypoints.size(); i++) - { - airstack_msgs::msg::WaypointXYZVYaw wp_prev = best_traj_msg.waypoints[i - 1]; - airstack_msgs::msg::WaypointXYZVYaw &wp_curr = best_traj_msg.waypoints[i]; - - double yaw = atan2(wp_curr.position.y - wp_prev.position.y, - wp_curr.position.x - wp_prev.position.x); - double cos_yaw = alpha * cos(yaw) + (1 - alpha) * cos_yaw_prev; - double sin_yaw = alpha * sin(yaw) + (1 - alpha) * sin_yaw_prev; - yaw = atan2(sin_yaw, cos_yaw); - - sin_yaw_prev = sin_yaw; - cos_yaw_prev = cos_yaw; - - wp_curr.yaw = yaw; - } - } - } - - // subscriber callbacks - - /** - * @brief Saves the global plan if the goal mode is GLOBAL_PLAN - * - * @param global_plan_msg - */ - void global_plan_callback(const nav_msgs::msg::Path::SharedPtr global_plan_msg) - { - // RCLCPP_INFO_STREAM(this->get_logger(), "GOT GLOBAL PLAN, goal_mode: " << this->goal_mode); - if (this->goal_mode != GLOBAL_PLAN) - return; - - this->global_plan_msg = *global_plan_msg; // copies - this->is_global_plan_received = true; - this->global_plan_trajectory_distance = 0; - } - - /** - * @brief If mode == AUTO_WAYPOINT, then the local planner will automatically interpolate - * waypoints to reach the desired waypoint. This callback happens when mode == AUTO_WAYPOINT and - * it receives a waypoint message. - * - * @param wp the desired waypoint - */ - void waypoint_callback(const geometry_msgs::msg::PointStamped::SharedPtr wp) - { - if (this->goal_mode != AUTO_WAYPOINT) - { - this->waypoint_buffer.clear(); - this->waypoint_buffer.push_back(*wp); - return; - } - - // remove old waypoints if necessary - this->waypoint_buffer.push_back(*wp); - if ((rclcpp::Time(wp->header.stamp) - rclcpp::Time(waypoint_buffer.front().header.stamp)) - .seconds() > auto_waypoint_buffer_duration) - { - waypoint_buffer.pop_front(); - } - - // stitch together the history of waypoints - nav_msgs::msg::Path global_plan_msg; - global_plan_msg.header.frame_id = wp->header.frame_id; - global_plan_msg.header.stamp = wp->header.stamp; - - std::vector backwards_global_plan; - - std::vector prev_wps; - for (auto it = waypoint_buffer.rbegin(); it != waypoint_buffer.rend(); it++) - { - geometry_msgs::msg::PointStamped curr_wp = *it; - geometry_msgs::msg::PoseStamped waypoint; - waypoint.pose.position.x = curr_wp.point.x; - waypoint.pose.position.y = curr_wp.point.y; - waypoint.pose.position.z = curr_wp.point.z; - - if (prev_wps.size() > 1) - { - geometry_msgs::msg::PointStamped prev_wp = prev_wps[prev_wps.size() - 1]; - geometry_msgs::msg::PointStamped prev2_wp = prev_wps[prev_wps.size() - 2]; - float distance = sqrt(pow(curr_wp.point.x - prev_wp.point.x, 2) + - pow(curr_wp.point.y - prev_wp.point.y, 2)); - - float a = pow(prev_wp.point.x - curr_wp.point.x, 2) + - pow(prev_wp.point.y - curr_wp.point.y, 2); - float b = pow(prev_wp.point.x - prev2_wp.point.x, 2) + - pow(prev_wp.point.y - prev2_wp.point.y, 2); - float c = pow(prev2_wp.point.x - curr_wp.point.x, 2) + - pow(prev2_wp.point.y - curr_wp.point.y, 2); - float angle = acos((a + b - c) / sqrt(4 * a * b)); - - float angle_diff = fabs(atan2(sin(angle - M_PI), cos(angle - M_PI))); - - // ROS_INFO_STREAM("\tdistance: " << distance << " angle: " << angle*180./M_PI << " - // angle_diff: " << angle_diff*180./M_PI); - - if (distance >= auto_waypoint_spacing_threshold && - angle_diff < auto_waypoint_angle_threshold) - { - // ROS_INFO_STREAM("\tADDING wp: " << curr_wp.point.x << " " << curr_wp.point.y - // << " " << curr_wp.point.z); - backwards_global_plan.push_back(waypoint); - prev_wps.push_back(curr_wp); - } - } - else - { - if (prev_wps.size() == 0) - { - prev_wps.push_back(curr_wp); - backwards_global_plan.push_back(waypoint); - } - else if (prev_wps.size() == 1) - { - geometry_msgs::msg::PointStamped prev_wp = prev_wps[prev_wps.size() - 1]; - float distance = sqrt(pow(curr_wp.point.x - prev_wp.point.x, 2) + - pow(curr_wp.point.y - prev_wp.point.y, 2)); - if (distance >= auto_waypoint_spacing_threshold) - { - prev_wps.push_back(curr_wp); - backwards_global_plan.push_back(waypoint); - } - } - } - } - for (size_t i = 0; i < backwards_global_plan.size(); i++) - { - global_plan_msg.poses.push_back( - backwards_global_plan[backwards_global_plan.size() - 1 - i]); - } - if (is_tracking_point_received) - { - try - { - tf2::Stamped transform; - tf_buffer_ptr->canTransform(tracking_point_odom.header.frame_id, - wp->header.frame_id, wp->header.stamp, - rclcpp::Duration::from_seconds(0.1)); - auto transform_msg = tf_buffer_ptr->lookupTransform( - tracking_point_odom.header.frame_id, wp->header.frame_id, wp->header.stamp); - tf2::fromMsg(transform_msg, transform); - - tf2::Vector3 tp_position = tflib::to_tf(tracking_point_odom.pose.position); - tf2::Vector3 wp_position = transform * tflib::to_tf(wp->point); - - tf2::Vector3 direction = (wp_position - tp_position).normalized() * 3; - tf2::Vector3 wp2_position = wp_position + direction; - - geometry_msgs::msg::PoseStamped wp1, wp2; - wp1.pose.position.x = wp_position.x(); - wp1.pose.position.y = wp_position.y(); - wp1.pose.position.z = wp_position.z(); - wp2.pose.position.x = wp2_position.x(); - wp2.pose.position.y = wp2_position.y(); - wp2.pose.position.z = wp2_position.z(); - global_plan_msg.poses.push_back(wp1); - global_plan_msg.poses.push_back(wp2); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(this->get_logger(), "Failed to get transform: %s", ex.what()); - } - } - - global_plan_trajectory_distance = 0; - this->global_plan_msg = global_plan_msg; - this->is_global_plan_received = true; - } - - /** - * @brief Clears the current global plan reference and go immediately to a custom waypoint - * (typically set by the user). Sets the global plan to be the line between the current look - * ahead point and the custom waypoint. - * - * @param wp - */ - void custom_waypoint_callback(const geometry_msgs::msg::PoseStamped::SharedPtr wp) - { - if (!is_look_ahead_received) - return; - - try - { - tf2::Stamped transform; - tf_buffer_ptr->canTransform(look_ahead_odom.header.frame_id, wp->header.frame_id, - wp->header.stamp, rclcpp::Duration::from_seconds(0.1)); - auto transform_msg = tf_buffer_ptr->lookupTransform( - look_ahead_odom.header.frame_id, wp->header.frame_id, wp->header.stamp); - tf2::fromMsg(transform_msg, transform); - - tf2::Vector3 la_position = tflib::to_tf(look_ahead_odom.pose.position); - tf2::Vector3 wp_position = transform * tflib::to_tf(wp->pose.position); - - nav_msgs::msg::Path global_plan_msg; - global_plan_msg.header.frame_id = look_ahead_odom.header.frame_id; - global_plan_msg.header.stamp = this->now(); - - geometry_msgs::msg::PoseStamped wp1, wp2; - wp1.pose.position.x = la_position.x(); - wp1.pose.position.y = la_position.y(); - wp1.pose.position.z = la_position.z(); - wp2.pose.position.x = wp_position.x(); - wp2.pose.position.y = wp_position.y(); - wp2.pose.position.z = wp_position.z(); - global_plan_msg.poses.push_back(wp1); - global_plan_msg.poses.push_back(wp2); - - global_plan_trajectory_distance = 0; - this->global_plan_msg = global_plan_msg; - this->is_global_plan_received = true; - - goal_mode = CUSTOM_WAYPOINT; - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(this->get_logger(), "Failed to get transform: %s", ex.what()); - } - } - - /** - * Check if we should switch from CUSTOM_WAYPOINT to AUTO_WAYPOINT - */ - void update_waypoint_mode() - { - if (goal_mode == CUSTOM_WAYPOINT) - { - if (global_plan_msg.poses.size() < 2) - goal_mode = AUTO_WAYPOINT; - - // check if the time limit for reaching the waypoint has elapsed - double elapsed_time = (this->now() - global_plan_msg.header.stamp).seconds(); - double distance = 0; - for (size_t i = 1; i < global_plan_msg.poses.size(); i++) - { - geometry_msgs::msg::Pose prev_wp, curr_wp; - prev_wp = global_plan_msg.poses[i - 1].pose; - curr_wp = global_plan_msg.poses[i].pose; - - distance += sqrt(pow(prev_wp.position.x - curr_wp.position.x, 2) + - pow(prev_wp.position.y - curr_wp.position.y, 2)); - } - - // ROS_INFO_STREAM("elapsed: " << elapsed_time << " / " << - // distance/custom_waypoint_timeout_factor << " distance: " << distance); - if (elapsed_time >= distance / this->custom_waypoint_timeout_factor) - { - // ROS_INFO_STREAM("CUSTOM WAYPOINT TIMEOUT REACHED"); - goal_mode = AUTO_WAYPOINT; - } - - // check if we are close enough to the waypoint - if (is_tracking_point_received) - { - try - { - tf2::Stamped transform; - tf_buffer_ptr->canTransform( - tracking_point_odom.header.frame_id, global_plan_msg.header.frame_id, - global_plan_msg.header.stamp, rclcpp::Duration::from_seconds(0.1)); - auto transform_msg = tf_buffer_ptr->lookupTransform( - tracking_point_odom.header.frame_id, global_plan_msg.header.frame_id, - global_plan_msg.header.stamp); - tf2::fromMsg(transform_msg, transform); - - tf2::Vector3 tp_position = tflib::to_tf(tracking_point_odom.pose.position); - tp_position.setZ(0); - tf2::Vector3 wp_position = - transform * tflib::to_tf(global_plan_msg.poses.back().pose.position); - wp_position.setZ(0); - - if (tp_position.distance(wp_position) < custom_waypoint_distance_threshold) - { - // ROS_INFO_STREAM("CUSTOM WAYPOINT DISTANCE THRESHOLD MET"); - goal_mode = AUTO_WAYPOINT; - } - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR_STREAM( - this->get_logger(), - "TransformException in update_waypoint_mode: " << ex.what()); - } - } - } - } - /** - * @brief Receive the look ahead point to plan the next local trajectory from - * - * @param odom - */ - void look_ahead_callback(const airstack_msgs::msg::Odometry::SharedPtr odom) - { - is_look_ahead_received = true; - RCLCPP_INFO_STREAM_ONCE(this->get_logger(), - "look ahead received with frame id: " << odom->header.frame_id); - look_ahead_odom = *odom; - } - // --------------------------------------------------------------------------- - // NavigateTask action server callbacks - // --------------------------------------------------------------------------- - - rclcpp_action::GoalResponse handle_navigate_goal( - const rclcpp_action::GoalUUID&, - std::shared_ptr /*goal*/) - { - if (task_active_) { - RCLCPP_WARN(this->get_logger(), "Rejecting NavigateTask goal: task already active"); - return rclcpp_action::GoalResponse::REJECT; - } - task_active_ = true; - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; - } - - rclcpp_action::CancelResponse handle_navigate_cancel( - std::shared_ptr /*goal_handle*/) - { - cancel_requested_ = true; - return rclcpp_action::CancelResponse::ACCEPT; - } - - void handle_navigate_accepted(std::shared_ptr goal_handle) - { - std::thread{std::bind(&DroanLocalPlanner::execute_navigate, this, - std::placeholders::_1), goal_handle}.detach(); - } - - void execute_navigate(std::shared_ptr goal_handle) - { - const auto goal = goal_handle->get_goal(); - cancel_requested_ = false; - - // Feed the goal path into the planner via the existing callback path - global_plan_callback(std::make_shared(goal->global_plan)); - - // Set trajectory controller to ADD_SEGMENT mode - auto mode_req = std::make_shared(); - mode_req->mode = airstack_msgs::srv::TrajectoryMode::Request::ADD_SEGMENT; - if (trajectory_mode_client_->wait_for_service(std::chrono::seconds(2))) - trajectory_mode_client_->async_send_request(mode_req); - else - RCLCPP_WARN(this->get_logger(), "set_trajectory_mode service not available"); - - // Goal position is the last pose in the path - geometry_msgs::msg::Point goal_pos; - if (!goal->global_plan.poses.empty()) - goal_pos = goal->global_plan.poses.back().pose.position; - - rclcpp::Rate rate(1.0); - - while (rclcpp::ok()) { - if (cancel_requested_) { - restore_track_mode(); - auto result = std::make_shared(); - result->success = false; - result->message = "Canceled"; - task_active_ = false; - goal_handle->canceled(result); - return; - } - - if (is_tracking_point_received) { - double dx = tracking_point_odom.pose.position.x - goal_pos.x; - double dy = tracking_point_odom.pose.position.y - goal_pos.y; - double dz = tracking_point_odom.pose.position.z - goal_pos.z; - float dist = static_cast(std::sqrt(dx*dx + dy*dy + dz*dz)); - - auto feedback = std::make_shared(); - feedback->status = "navigating"; - feedback->distance_to_goal = dist; - feedback->current_position.x = tracking_point_odom.pose.position.x; - feedback->current_position.y = tracking_point_odom.pose.position.y; - feedback->current_position.z = tracking_point_odom.pose.position.z; - goal_handle->publish_feedback(feedback); - - if (dist < goal->goal_tolerance_m) { - restore_track_mode(); - auto result = std::make_shared(); - result->success = true; - result->message = "Goal reached"; - task_active_ = false; - goal_handle->succeed(result); - return; - } - } - - rate.sleep(); - } - - restore_track_mode(); - auto result = std::make_shared(); - result->success = false; - result->message = "Node shutting down"; - task_active_ = false; - goal_handle->abort(result); - } - - void restore_track_mode() - { - auto mode_req = std::make_shared(); - mode_req->mode = airstack_msgs::srv::TrajectoryMode::Request::TRACK; - trajectory_mode_client_->async_send_request(mode_req); - } - - void tracking_point_callback(const airstack_msgs::msg::Odometry::SharedPtr odom) - { - is_tracking_point_received = true; - RCLCPP_INFO_STREAM_ONCE(this->get_logger(), - "tracking point received with frame id: " << odom->header.frame_id); - tracking_point_odom = *odom; - - visualization_msgs::msg::MarkerArray markers; - visualization_msgs::msg::Marker clear; - clear.ns = rewind_info_marker.ns; - clear.action = visualization_msgs::msg::Marker::DELETEALL; - markers.markers.push_back(clear); - rewind_info_marker.header = odom->header; - rewind_info_marker.pose.position = odom->pose.position; - rewind_info_marker.text = ""; - - rclcpp::Time now = this->now(); - tf2::Vector3 position = tflib::to_tf(odom->pose.position); - stationary_monitor->add_measurement(position, odom->header.stamp); - static bool prev_map_clearing_rewind_monitor_state = false; - bool curr_map_clearing_rewind_monitor_state = map_clearing_rewind_monitor->is_timed_out(now); - float rewind_distance = map_clearing_point.distance(position); - - if (!stuck_monitor->is_timed_out(this->now())) - rewind_info_marker.text += "STUCK REWIND\ntime: " + std::to_string(stuck_monitor->time_until_timed_out(now)) + - " / " + std::to_string(stuck_duration_threshold) + "\n"; - - if (!curr_map_clearing_rewind_monitor_state) - { - rewind_info_marker.text += "MAP CLEARING REWIND\ndistance: " + - std::to_string(rewind_distance) + " / " + std::to_string(map_clearing_rewind_distance) + - "\ntime: " + std::to_string(map_clearing_rewind_monitor->time_until_timed_out(now)) + - " / " + std::to_string(map_clearing_max_rewind_time); - /* - RCLCPP_INFO_STREAM(this->get_logger(), "CURRENT REWIND DISTANCE: " << map_clearing_point.distance(position) << " | " - << map_clearing_point.x() << ", " << map_clearing_point.y() << ", " << map_clearing_point.z() << " | " - << position.x() << ", " << position.y() << ", " << position.z()); - */ - } - if (((!curr_map_clearing_rewind_monitor_state) && rewind_distance > map_clearing_rewind_distance) || - (curr_map_clearing_rewind_monitor_state && !prev_map_clearing_rewind_monitor_state) || - ((now - map_clearing_time).seconds() < map_clearing_wait_time)) - { - /* - RCLCPP_INFO_STREAM(this->get_logger(), "DONE CLEARING: " << - ((!curr_map_clearing_rewind_monitor_state) && map_clearing_point.distance(position) > map_clearing_rewind_distance) - << " " << (curr_map_clearing_rewind_monitor_state && !prev_map_clearing_rewind_monitor_state) - << " " << ((now - map_clearing_time).seconds() < map_clearing_wait_time)); - //*/ - map_clearing_rewind_monitor->clear_history(); - stationary_monitor->clear_history(); - } - - if (stationary_monitor->has_full_history() && !stationary_monitor->threshold_exceeded() && - map_clearing_rewind_monitor->is_timed_out(now)) - { - cost_map->clear(); - stationary_monitor->clear_history(); - - geometry_msgs::msg::PoseStamped p; - p.header = odom->header; - p.pose = odom->pose; - map_clearing_point_pub->publish(p); - map_clearing_point = tf2::Vector3(position); - - map_clearing_rewind_monitor->add_time(now); - RCLCPP_INFO_STREAM(this->get_logger(), "STATIONARY " << now); - } - - markers.markers.push_back(rewind_info_marker); - rewind_info_pub->publish(markers); - prev_map_clearing_rewind_monitor_state = curr_map_clearing_rewind_monitor_state; - } - - void reset_stuck_callback(const std_msgs::msg::Empty::SharedPtr msg) - { - all_in_collision_monitor->add_time(this->now()); - } - - void clear_map_callback(const std_msgs::msg::Empty::SharedPtr msg) - { - cost_map->clear(); - rclcpp::Time now = this->now(); - - geometry_msgs::msg::PoseStamped p; - p.header = tracking_point_odom.header; - p.pose = tracking_point_odom.pose; - map_clearing_point_pub->publish(p); - - map_clearing_rewind_monitor->clear_history(); - stationary_monitor->clear_history(); - all_in_collision_monitor->add_time(now); - stuck_monitor->clear_history(); - map_clearing_time = now; - for (int i = 0; i < 10; i++) - RCLCPP_INFO_STREAM(this->get_logger(), "CLEARED " << map_clearing_time); - } -}; diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/launch/droan_local_planner.launch.xml b/robot/ros_ws/src/local/planners/droan_local_planner/launch/droan_local_planner.launch.xml deleted file mode 100644 index 50905f56a..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/launch/droan_local_planner.launch.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/package.xml b/robot/ros_ws/src/local/planners/droan_local_planner/package.xml deleted file mode 100644 index 7a3fac672..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - droan_local_planner - 0.0.0 - DROAN disparity-space local planner (CPU implementation) that selects the best collision-free trajectory from a trajectory library using a disparity-based cost map. - Andrew Jong - BSD-3-Clause-Clear - - ament_cmake - - airstack_msgs - cost_map_interface - pluginlib - rclcpp - rclcpp_action - task_msgs - std_msgs - geometry_msgs - tf2 - tf2_ros - trajectory_controller - trajectory_library - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/robot/ros_ws/src/local/planners/droan_local_planner/src/droan_local_planner.cpp b/robot/ros_ws/src/local/planners/droan_local_planner/src/droan_local_planner.cpp deleted file mode 100644 index a8b36c224..000000000 --- a/robot/ros_ws/src/local/planners/droan_local_planner/src/droan_local_planner.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#include -#include -#include - -int main(int argc, char **argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - node->initialize(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(node); - executor.spin(); - rclcpp::shutdown(); - return 0; -} diff --git a/robot/ros_ws/src/local/planners/trajectory_library/README.md b/robot/ros_ws/src/local/planners/trajectory_library/README.md index db8c65c90..a39d5bd20 100644 --- a/robot/ros_ws/src/local/planners/trajectory_library/README.md +++ b/robot/ros_ws/src/local/planners/trajectory_library/README.md @@ -2,7 +2,7 @@ Contact: John Keller -`trajectory_library` is a C++ library (no node of its own) for generating and manipulating candidate trajectories for obstacle-avoidance planners. It provides the `Trajectory`/`Waypoint` classes used throughout the local layer to interpolate, transform, trim, merge, and visualize waypoint paths, plus a `TrajectoryLibrary` class that loads a *library* of candidate trajectory generators from a YAML config file — the file the DROAN local planner points its `trajectory_library_config` parameter at. Every trajectory converts to/from [`airstack_msgs/msg/TrajectoryXYZVYaw`](../../../../../../common/ros_packages/msgs/airstack_msgs/README.md), the trajectory-controller command type (see the [Interface Conventions Specification §5](../../../../../../docs/robot/autonomy/interface_conventions.md)). +`trajectory_library` is a C++ library (no node of its own) for generating and manipulating candidate trajectories for obstacle-avoidance planners. It provides the `Trajectory`/`Waypoint` classes used throughout the local layer to interpolate, transform, trim, merge, and visualize waypoint paths, plus a `TrajectoryLibrary` class that loads a *library* of candidate trajectory generators from a YAML config file — the file the DROAN local planner ([asm_droan](https://github.com/castacks/asm_droan) module) points its `trajectory_library_config` parameter at. Every trajectory converts to/from [`airstack_msgs/msg/TrajectoryXYZVYaw`](../../../../../../common/ros_packages/msgs/airstack_msgs/README.md), the trajectory-controller command type (see the [Interface Conventions Specification §5](../../../../../../docs/robot/autonomy/interface_conventions.md)). ## Core classes @@ -114,13 +114,13 @@ Installed to `share/trajectory_library/config/`; reference them with `$(find-pkg | Package | How it uses this library | |---|---| -| [`droan_local_planner`](../droan_local_planner/README.md) | Constructs `TrajectoryLibrary` from its `trajectory_library_config` parameter (default `$(find-pkg-share trajectory_library)/config/long.yaml`, set in `config/droan.yaml`); each planning cycle calls `get_dynamic_trajectories(look_ahead_odom)` to get the candidate set it collision-checks and scores | -| [`droan_gl`](../droan_gl/README.md) | Links the library for the `Trajectory`/`Waypoint` utility classes (e.g. wrapping the incoming `nav_msgs/Path` global plan); it does **not** load a YAML library — its candidates come from its own graph expansion | +| [`droan_local_planner`](https://github.com/castacks/asm_droan/blob/main/droan_local_planner/README.md) (asm_droan module) | Constructs `TrajectoryLibrary` from its `trajectory_library_config` parameter (default `$(find-pkg-share trajectory_library)/config/long.yaml`, set in `config/droan.yaml`); each planning cycle calls `get_dynamic_trajectories(look_ahead_odom)` to get the candidate set it collision-checks and scores | +| [`droan_gl`](https://github.com/castacks/asm_droan/blob/main/droan_gl/README.md) (asm_droan module) | Links the library for the `Trajectory`/`Waypoint` utility classes (e.g. wrapping the incoming `nav_msgs/Path` global plan); it does **not** load a YAML library — its candidates come from its own graph expansion | | [`takeoff_landing_planner`](../takeoff_landing_planner/README.md) | Constructs `TakeoffTrajectory` generators programmatically for takeoff and landing | ## See also -- [DROAN Local Planner README](../droan_local_planner/README.md) — the primary consumer of the YAML library -- [DROAN GL README](../droan_gl/README.md) — GPU DROAN variant +- [DROAN Local Planner README](https://github.com/castacks/asm_droan/blob/main/droan_local_planner/README.md) — the primary consumer of the YAML library (asm_droan module) +- [DROAN GL README](https://github.com/castacks/asm_droan/blob/main/droan_gl/README.md) — GPU DROAN variant (asm_droan module) - [Trajectory Controller README](../../controls/trajectory_controller/README.md) — where the generated `TrajectoryXYZVYaw` trajectories are sent - [Interface Conventions Specification](../../../../../../docs/robot/autonomy/interface_conventions.md) — canonical topics/types for the trajectory group diff --git a/robot/ros_ws/src/local/world_models/cost_map_interface/CMakeLists.txt b/robot/ros_ws/src/local/world_models/cost_map_interface/CMakeLists.txt deleted file mode 100644 index 7dca732d6..000000000 --- a/robot/ros_ws/src/local/world_models/cost_map_interface/CMakeLists.txt +++ /dev/null @@ -1,80 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(cost_map_interface) - -# Find dependencies -find_package(ament_cmake REQUIRED) -find_package(airstack_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclpy REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(visualization_msgs REQUIRED) -find_package(trajectory_library REQUIRED) - - -add_library(cost_map_interface src/cost_map_interface.cpp) -target_include_directories(cost_map_interface PUBLIC - $ - $) -target_compile_features(cost_map_interface PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 -ament_target_dependencies( - cost_map_interface - # Required dependencies - airstack_msgs - geometry_msgs - nav_msgs - pluginlib - rclcpp - rclpy - sensor_msgs - std_msgs - tf2 - tf2_ros - visualization_msgs - trajectory_library -) -ament_export_targets(cost_map_interface HAS_LIBRARY_TARGET) -ament_export_dependencies(rclcpp geometry_msgs tf2 tf2_ros) - -install(TARGETS cost_map_interface - DESTINATION lib/${PROJECT_NAME}) - -install( - DIRECTORY include/ - DESTINATION include -) - -install( - TARGETS cost_map_interface - EXPORT cost_map_interface - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib - RUNTIME DESTINATION bin - INCLUDES DESTINATION include -) - -ament_export_include_directories( - include - ${geometry_msgs_INCLUDE_DIRS} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/robot/ros_ws/src/local/world_models/cost_map_interface/include/cost_map_interface/cost_map_interface.hpp b/robot/ros_ws/src/local/world_models/cost_map_interface/include/cost_map_interface/cost_map_interface.hpp deleted file mode 100644 index cec1f0de2..000000000 --- a/robot/ros_ws/src/local/world_models/cost_map_interface/include/cost_map_interface/cost_map_interface.hpp +++ /dev/null @@ -1,71 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#pragma once - -#include -#include - -#include -#include -#include -#include -#include - -namespace cost_map_interface { - -class CostMapInterface { - protected: - rclcpp::Node::SharedPtr node_ptr; - std::shared_ptr tf_buffer_ptr; - CostMapInterface() {} - - public: - /** - Takes in a list of trajectories and outputs a value for each waypoint in each trajectory. - @return A vector of vectors containing values for each waypoint. There is a vector of vectors - for each trajectory. There is a vector of doubles for each waypoint within a trajectory. - */ - - virtual std::vector > get_trajectory_costs_per_waypoint( - const std::vector& trajectories) = 0; - /** - Clears the map. - */ - virtual void clear() { - RCLCPP_ERROR(node_ptr->get_logger(), "clear CALLED BUT NOT IMPLEMENTED"); - } - - /** - Use this function to publish visualizations of the map that might be helpful for debugging. - */ - virtual const visualization_msgs::msg::MarkerArray& get_debug_markerarray() const {} - - virtual ~CostMapInterface() {} - - virtual void initialize(const rclcpp::Node::SharedPtr& node_ptr, - const std::shared_ptr tf_buffer_ptr) { - RCLCPP_INFO(node_ptr->get_logger(), "CostMapInterface initialize called"); - this->node_ptr = node_ptr; - this->tf_buffer_ptr = tf_buffer_ptr; - } -}; - -} // namespace cost_map_interface diff --git a/robot/ros_ws/src/local/world_models/cost_map_interface/package.xml b/robot/ros_ws/src/local/world_models/cost_map_interface/package.xml deleted file mode 100644 index 3465296a5..000000000 --- a/robot/ros_ws/src/local/world_models/cost_map_interface/package.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - cost_map_interface - 0.0.0 - Pluginlib base interface that local planners use to query collision costs for candidate trajectories from a cost map implementation. - - Andrew Jong - BSD-3-Clause-Clear - - ament_cmake - - geometry_msgs - nav_msgs - rclcpp - rclpy - sensor_msgs - std_msgs - tf2 - tf2_ros - visualization_msgs - pluginlib - airstack_msgs - trajectory_library - - ament_lint_auto - ament_lint_common - - - ament_cmake - - \ No newline at end of file diff --git a/robot/ros_ws/src/local/world_models/cost_map_interface/src/cost_map_interface.cpp b/robot/ros_ws/src/local/world_models/cost_map_interface/src/cost_map_interface.cpp deleted file mode 100644 index ae5fe61b7..000000000 --- a/robot/ros_ws/src/local/world_models/cost_map_interface/src/cost_map_interface.cpp +++ /dev/null @@ -1,23 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#include - -int blank() { return 0; } diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/CMakeLists.txt b/robot/ros_ws/src/local/world_models/disparity_expansion/CMakeLists.txt deleted file mode 100644 index 717649f7d..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/CMakeLists.txt +++ /dev/null @@ -1,272 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(disparity_expansion) - -# # 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 -# cv_bridge -# image_geometry -# image_transport -# roscpp -# std_msgs -# tf -# ) -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(cv_bridge REQUIRED) -find_package(image_geometry REQUIRED) -find_package(image_transport REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(tf2 REQUIRED) - -find_package(stereo_msgs REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) - -find_package(message_filters REQUIRED) -find_package(visualization_msgs REQUIRED) -find_package(pcl_conversions REQUIRED) - -# CONFIGURE OPENCV -find_package(OpenCV REQUIRED) - -# CONFIGURE PCL -find_package(PCL 1.12 REQUIRED) - -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -# # System dependencies are found with CMake's conventions -message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}") - -# # 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 and a run_depend tag for each package in MSG_DEP_SET -# # * If MSG_DEP_SET isn't empty the following dependencies might have been -# # pulled in transitively but can be declared for certainty nonetheless: -# # * add a build_depend tag for "message_generation" -# # * add a run_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 -# ) - -# ################################## -# # 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 you 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 -# ${catkin_INCLUDE_DIRS} -# ${OpenCV_INCLUDE_DIRS} -# ${PCL_INCLUDE_DIRS} -include_directories( - ${rclcpp_INCLUDE_DIRS} - ${rcl_interfaces_INCLUDE_DIRS} - ${cv_bridge_INCLUDE_DIRS} - ${image_geometry_INCLUDE_DIRS} - ${image_transport_INCLUDE_DIRS} - ${sensor_msgs_INCLUDE_DIRS} - ${std_msgs_INCLUDE_DIRS} - ${tf2_INCLUDE_DIRS} - ${pcl_ros_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - ${pcl_conversions_INCLUDE_DIRS} - ${tf2_geometry_msgs_INCLUDE_DIRS} -) - -# LIBRARIES disparity_expansion -# CATKIN_DEPENDS cv_bridge image_geometry image_transport roscpp std_msgs tf -# DEPENDS system_lib -# ) - -# ########## -# # Build ## -# ########## -if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) - message("${PROJECT_NAME}: You did not request a specific build type: selecting 'Release'.") - set(CMAKE_BUILD_TYPE Release) -endif() - -# # Specify additional locations of header files -# # Your package locations should be listed before other locations -# include_directories(include) -include_directories( - - # ${catkin_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} -) - -# # Declare a cpp library -# add_library(disparity_expansion -# src/${PROJECT_NAME}/disparity_expansion.cpp -# ) - -# # Declare a cpp executable -add_executable(disparity_expansion src/disparity_expansion.cpp) -target_include_directories(disparity_expansion PUBLIC - $ - $) - -target_link_libraries(disparity_expansion ${OpenCV_LIBS} ${catkin_LIBRARIES} -) - -ament_target_dependencies(disparity_expansion - rclcpp - rcl_interfaces - cv_bridge - image_geometry - image_transport - sensor_msgs - std_msgs - tf2 - pcl_conversions - message_filters - visualization_msgs - stereo_msgs - tf2_geometry_msgs -) - -add_executable(disparity_pcd src/disparity_pcd.cpp) -target_link_libraries(disparity_pcd ${OpenCV_LIBS} ${catkin_LIBRARIES} -) - -ament_target_dependencies(disparity_pcd - rclcpp - rcl_interfaces - cv_bridge - image_geometry - image_transport - sensor_msgs - std_msgs - tf2 - pcl_conversions - message_filters - tf2_geometry_msgs -) - -# install(TARGETS disparity_expansion -# RUNTIME DESTINATION bin) -install(TARGETS disparity_expansion - DESTINATION lib/${PROJECT_NAME} -) -install(TARGETS disparity_pcd - DESTINATION lib/${PROJECT_NAME} -) -install(FILES package.xml - DESTINATION share/${PROJECT_NAME} -) - -# install(DIRECTORY params DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) - -# # Add cmake target dependencies of the executable/library -# # as an example, message headers may need to be generated before nodes -# add_dependencies(disparity_expansion_node disparity_expansion_generate_messages_cpp) - -# # Specify libraries to link a library or executable target against -# target_link_libraries(disparity_expansion_node -# ${catkin_LIBRARIES} -# ) -ament_package() - -# ############ -# # 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 and/or libraries for installation -# install(TARGETS disparity_expansion disparity_expansion_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -# # Mark cpp header files for installation -# install(DIRECTORY include/${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_disparity_expansion.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/robot/ros_ws/src/local/world_models/disparity_expansion/LICENSE b/robot/ros_ws/src/local/world_models/disparity_expansion/LICENSE deleted file mode 100644 index c0b5f17b3..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/LICENSE +++ /dev/null @@ -1,15 +0,0 @@ -### License ### -[This software is BSD licensed.](http://opensource.org/licenses/BSD-3-Clause) - -Copyright (c) 2019, Carnegie Mellon University -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/README.md b/robot/ros_ws/src/local/world_models/disparity_expansion/README.md deleted file mode 100644 index 1d58f9dd1..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/README.md +++ /dev/null @@ -1,18 +0,0 @@ -# Disparity Expansion - -This package generates a world representation using disparity images. This enables planning in image space by applying C-space expansion in 2.5D disparity images. - -It generates a pair expansion images: one for foreground expansion and one for background expansion. - -Currently this package also has the following nodes - -* `disparity_expansion`: Generate expanded disparity - -* `disparity_pcd`: Disparity image to point cloud. - -### Who do I talk to? ### - -* geetesh dubey (geeteshdubey@gmail.com) -## License - -BSD, see LICENSE \ No newline at end of file diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/config/disparity_expansion_params.yaml b/robot/ros_ws/src/local/world_models/disparity_expansion/config/disparity_expansion_params.yaml deleted file mode 100644 index 5a588fcc6..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/config/disparity_expansion_params.yaml +++ /dev/null @@ -1,14 +0,0 @@ -/**: - ros__parameters: - # parameters - metric_depth_scale: 1.0 # units size of a meter. depth value corresponds to this many meters - downsample_scale: 1.0 # the ratio to scale down the disparity image before processing. DROAN expects 960x600. So if the incoming image is 480x300, set this to 0.5 so that it scales up - baseline_fallback: 0.12 # if the baseline is 0 from the camera_info, use this value instead - lut_max_disparity: 180 # maximum disparity value in the disparity image - # expansion_radius: 0.325 # 0.325 is the spirit drone blade to blade - expansion_radius: 2.0 - bg_multiplier: 1.0 - # sensor_pixel_error: 0.5 # what is this? and why was it 0.5? - sensor_pixel_error: 0.0 - ignore_left_pixels: 0 - padding: -2. \ No newline at end of file diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/include/disparity_expansion/disparity_expansion.hpp b/robot/ros_ws/src/local/world_models/disparity_expansion/include/disparity_expansion/disparity_expansion.hpp deleted file mode 100644 index ec1e2ba00..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/include/disparity_expansion/disparity_expansion.hpp +++ /dev/null @@ -1,109 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "opencv2/core/core.hpp" -#include "opencv2/opencv.hpp" -#include "rclcpp/rclcpp.hpp" -#include "sensor_msgs/msg/camera_info.hpp" -#include "sensor_msgs/msg/image.hpp" -#include "std_msgs/msg/header.hpp" - -typedef pcl::PointCloud PointCloud; - -class DisparityExpansionNode : public rclcpp::Node -{ -protected: - rclcpp::Subscription::SharedPtr cam_info_sub_; - rclcpp::Subscription::SharedPtr disparity_sub_; - rclcpp::Subscription::SharedPtr depth_sub_; - - rclcpp::Publisher::SharedPtr expanded_disparity_fg_pub; - rclcpp::Publisher::SharedPtr expanded_disparity_bg_pub; - rclcpp::Publisher::SharedPtr expansion_poly_pub; - rclcpp::Publisher::SharedPtr expansion_cloud_pub; - rclcpp::Publisher::SharedPtr frustum_pub; - - bool LUT_ready = false; - bool got_cam_info = false; - - double downsample_scale; - int ignore_left_pixels; - image_geometry::PinholeCameraModel model_; - double baseline; - - struct LUTCell - { - unsigned int idx1; - unsigned int idx2; - }; - int lut_max_disparity; - double expansion_radius; - double padding; - double bg_multiplier; - double pixel_error; - double metric_depth_scale; - std::vector> table_u; - std::vector> table_v; - std::vector table_d; - double fx, fy, cx, cy; - unsigned int width, height; - - cv::Mat convert_depth_to_disparity(const cv::Mat &depth_image); - - void generate_expansion_lookup_table(); - - void expand(cv::Mat &disparity_fg_in, cv::Mat &disparity_bg_in, - cv::Mat &disparity_fg_out, cv::Mat &disparity_bg_out, - bool second_pass); - -public: - DisparityExpansionNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions()); - - void set_cam_info(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &msg_info); - - /** - * @brief Use depth image input instead of disparity. Converts depth to disparity, then call - * process_disparity_image - * - * @param msg - */ - void process_depth_image(const sensor_msgs::msg::Image::ConstSharedPtr &msg); - - void process_disparity_image(const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg_disp); - - void publish_expansion_poly(const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg_disp, - const cv_bridge::CvImagePtr &fg_msg, - const cv_bridge::CvImagePtr &bg_msg); - - void publish_expansion_cloud(const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg_disp, - const cv_bridge::CvImageConstPtr &cv_ptrdisparity, - const cv_bridge::CvImagePtr &fg_msg, - const cv_bridge::CvImagePtr &bg_msg); - - void publish_frustum(const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg); -}; diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/launch/disparity_expansion.launch.xml b/robot/ros_ws/src/local/world_models/disparity_expansion/launch/disparity_expansion.launch.xml deleted file mode 100644 index 21682c51c..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/launch/disparity_expansion.launch.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/package.xml b/robot/ros_ws/src/local/world_models/disparity_expansion/package.xml deleted file mode 100644 index 0f1aabcfc..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/package.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - - disparity_expansion - 0.0.0 - C-space expansion of stereo disparity images that inflates obstacles by the robot radius for disparity-space collision checking (DROAN). - - - - - Andrew Jong - - - - - - BSD-3-Clause-Clear - - - - - - - - - - - - - - - - - - - - - - - - - - ament_cmake - rclcpp - cv_bridge - image_geometry - image_transport - sensor_msgs - std_msgs - tf2 - pcl_conversions - visualization_msgs - message_filters - stereo_msgs - OpenCV - PCL - - rclcpp - cv_bridge - image_geometry - image_transport - sensor_msgs - std_msgs - tf2 - pcl_conversions - visualization_msgs - message_filters - stereo_msgs - OpenCV - PCL - - - - - - ament_cmake - - diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/src/disparity_expansion.cpp b/robot/ros_ws/src/local/world_models/disparity_expansion/src/disparity_expansion.cpp deleted file mode 100755 index 135166d29..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/src/disparity_expansion.cpp +++ /dev/null @@ -1,717 +0,0 @@ -/* - * Copyright (c) 2016 Carnegie Mellon University, Author - * - * For License information please see the LICENSE file in the root directory. - * - */ - -// Applies C-Space expansion on disparity images. -#include - -DisparityExpansionNode::DisparityExpansionNode(const rclcpp::NodeOptions &options) - : Node("DisparityExpansionNode", options) -{ - this->declare_parameter("metric_depth_scale", 2.0); - this->get_parameter("metric_depth_scale", this->metric_depth_scale); - this->declare_parameter("expansion_radius", 2.0); - this->get_parameter("expansion_radius", this->expansion_radius); - this->declare_parameter("lut_max_disparity", 164); - this->get_parameter("lut_max_disparity", this->lut_max_disparity); - table_d.resize(this->lut_max_disparity, 0.0); - this->declare_parameter("padding", 2.0); - this->get_parameter("padding", this->padding); - this->declare_parameter("baseline_fallback", 0.5); - this->declare_parameter("bg_multiplier", 5.0); - this->get_parameter("bg_multiplier", this->bg_multiplier); - this->declare_parameter("sensor_pixel_error", 0.5); - this->get_parameter("sensor_pixel_error", this->pixel_error); - this->declare_parameter("downsample_scale", 2.0); - this->get_parameter("downsample_scale", this->downsample_scale); - this->declare_parameter("ignore_left_pixels", 0); - this->get_parameter("ignore_left_pixels", this->ignore_left_pixels); - - // subscribers - this->cam_info_sub_ = this->create_subscription( - "camera_info", 1, - std::bind(&DisparityExpansionNode::set_cam_info, this, std::placeholders::_1)); - - this->disparity_sub_ = this->create_subscription( - "disparity", 1, - std::bind(&DisparityExpansionNode::process_disparity_image, this, std::placeholders::_1)); - - this->depth_sub_ = this->create_subscription( - "depth", 1, - std::bind(&DisparityExpansionNode::process_depth_image, this, std::placeholders::_1)); - - // publishers - this->expanded_disparity_fg_pub = - this->create_publisher("expanded_disparity_fg", 10); - this->expanded_disparity_bg_pub = - this->create_publisher("expanded_disparity_bg", 10); - this->expansion_poly_pub = - this->create_publisher("expansion_poly", 10); - this->expansion_cloud_pub = - this->create_publisher("expansion_cloud", 10); - this->frustum_pub = this->create_publisher("frustum", 10); - - RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << " waiting"); -} - -void DisparityExpansionNode::set_cam_info( - const sensor_msgs::msg::CameraInfo::ConstSharedPtr &msg_info) -{ - if (this->got_cam_info) - return; - this->model_.fromCameraInfo(msg_info); - RCLCPP_INFO_ONCE(this->get_logger(), "Cam Info Recvd Fx Fy Cx Cy: %f %f , %f %f", - this->model_.fx(), this->model_.fy(), this->model_.cx(), this->model_.cy()); - this->cx = this->model_.cx() / this->downsample_scale; - this->cy = this->model_.cy() / this->downsample_scale; - this->fx = this->fy = this->model_.fx() / this->downsample_scale; - this->width = msg_info->width / this->downsample_scale; - this->height = msg_info->height / this->downsample_scale; - this->baseline = -msg_info->p.at(3) / msg_info->p.at(0); - if (this->baseline == 0.0) - { - this->get_parameter("baseline_fallback", this->baseline); - RCLCPP_ERROR_STREAM_ONCE( - this->get_logger(), - "Baseline from camera_info was 0, setting to this->baseline_fallback:" - << this->baseline); - } - // this->baseline *= this->downsample_scale; - this->generate_expansion_lookup_table(); - this->got_cam_info = true; - RCLCPP_INFO(this->get_logger(), "Baseline: %.4f meters", this->baseline); - RCLCPP_INFO(this->get_logger(), "Focal length (fx): %.4f pixels", this->fx); -} - -void DisparityExpansionNode::generate_expansion_lookup_table() -{ - if (this->LUT_ready) - { - RCLCPP_ERROR(this->get_logger(), "LUT all ready"); - - return; - } - RCLCPP_INFO(this->get_logger(), "Fx Fy Cx Cy: %f %f , %f %f \nW H this->baseline: %d %d %f", - this->fx, this->fy, this->cx, this->cy, this->width, this->height, this->baseline); - double r = this->expansion_radius; // expansion radius in cm - this->table_u = std::vector>(this->lut_max_disparity, - std::vector(this->width)); - this->table_v = std::vector>(this->lut_max_disparity, - std::vector(this->height)); - int u1, u2, v1, v2; - double x, y, z; - double disparity; - - for (unsigned int disp_idx = 1; disp_idx < lut_max_disparity; disp_idx++) - { - disparity = disp_idx / this->metric_depth_scale; // 1 cell = 0.5m, z is in meters - // r = this->expansion_radius; // * exp(DEPTH_ERROR_COEFF*z); - z = this->baseline * this->fx / disparity; - r = std::min(this->expansion_radius, z - 0.01); - - double disp_new = this->baseline * this->fx / (z - this->expansion_radius) + 0.5; - table_d.at(disp_idx) = disp_new; - - for (int v = (int)height - 1; v >= 0; --v) - { - y = (v - this->cy) * z / this->fy; - - double beta = atan2(z, y); - double beta1 = asin(r / sqrt(z * z + y * y)); - - double r1 = z / tan(beta + beta1); - double r2 = z / tan(beta - beta1); - v1 = this->fy * r1 / z + this->cy; - v2 = this->fy * r2 / z + this->cy; - - //* - if ((v2 - v1) < 0) - RCLCPP_ERROR(this->get_logger(), - "Something MESSED disp_idx=%d v=%d cy=%f fy=%f r=%f x=%f y=%f z=%f " - "beta=%f beta1=%f b+=%f b-=%f r1=%f r2=%f v1=%d v2=%d tan+=%f tan-=%f", - disp_idx, v, this->cy, this->fy, r, x, y, z, beta, beta1, (beta + beta1), (beta - beta1), r1, r2, v1, - v2, tan(beta + beta1), tan(beta - beta1)); - else if ((z < r) && std::isfinite(beta1)) - { - RCLCPP_ERROR(this->get_logger(), "Z WAS LESS THAN R BUT THERE IS NO PROBLEMdisp_idx=%d v=%d cy=%f fy=%f r=%f x=%f y=%f z=%f " - "beta=%f beta1=%f b+=%f b-=%f r1=%f r2=%f v1=%d v2=%d tan+=%f tan-=%f", - disp_idx, v, this->cy, this->fy, r, x, y, z, beta, beta1, (beta + beta1), (beta - beta1), r1, r2, v1, - v2, tan(beta + beta1), tan(beta - beta1)); - } - //*/ - if (v1 < 0) - v1 = 0; - if (v1 > (height - 1)) - v1 = height - 1; - - if (v2 < 0) - v2 = 0; - if (v2 > (height - 1)) - v2 = height - 1; - - this->table_v.at(disp_idx).at(v).idx1 = v1; - this->table_v.at(disp_idx).at(v).idx2 = v2; - } - - for (int u = (int)this->width - 1; u >= 0; --u) - { - x = (u - this->cx) * z / this->fx; - - double alpha = atan2(z, x); - double alpha1 = asin(r / sqrt(z * z + x * x)); - - double r1 = z / tan(alpha + alpha1); - double r2 = z / tan(alpha - alpha1); - u1 = this->fx * r1 / z + this->cx; - u2 = this->fx * r2 / z + this->cx; - //* - if ((u2 - u1) < 0) - RCLCPP_ERROR(this->get_logger(), - "Something MESSED disp_idx=%d u=%d cx=%f fx=%f r=%f x=%f y=%f z=%f " - "alpha=%f alpha1=%f a+=%f a-=%f r1=%f r2=%f u1=%d u2=%d", - disp_idx, u, this->cx, this->fx, r, x, y, z, alpha, alpha1, (alpha + alpha1), (alpha - alpha1), r1, r2, u1, - u2); - else if ((z < r) && std::isfinite(alpha1)) - { - RCLCPP_ERROR(this->get_logger(), "Z WAS LESS THAN R BUT THERE IS NO PROBLEMdisp_idx=%d u=%d cx=%f fx=%f r=%f x=%f y=%f z=%f " - "alpha=%f alpha1=%f a+=%f a-=%f r1=%f r2=%f u1=%d u2=%d", - disp_idx, u, this->cx, this->fx, r, x, y, z, alpha, alpha1, (alpha + alpha1), (alpha - alpha1), r1, r2, u1, - u2); - } - //*/ - if (u1 < 0) - u1 = 0; - if (u1 > (this->width - 1)) - u1 = this->width - 1; - - if (u2 < 0) - u2 = 0; - if (u2 > (this->width - 1)) - u2 = this->width - 1; - - this->table_u.at(disp_idx).at(u).idx1 = u1; - this->table_u.at(disp_idx).at(u).idx2 = u2; - } - } - - RCLCPP_WARN(this->get_logger(), "Expansion LUT created: LUT MAX: %d , ROBOT SIZE: %f", - lut_max_disparity / 2, this->expansion_radius); - this->LUT_ready = true; -} - -void DisparityExpansionNode::process_depth_image( - const sensor_msgs::msg::Image::ConstSharedPtr &msg) -{ - cv_bridge::CvImagePtr cv_ptr; - try - { - cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_32FC1); - } - catch (cv_bridge::Exception &e) - { - RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what()); - return; - } - - if (cv_ptr->image.empty()) - { - RCLCPP_ERROR(this->get_logger(), "Received empty depth image."); - return; - } - cv::Mat disparity_image = this->convert_depth_to_disparity(cv_ptr->image); - - auto disparity_msg = std::make_shared(); - disparity_msg->header = msg->header; - disparity_msg->image = - *cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::TYPE_32FC1, disparity_image) - .toImageMsg(); - disparity_msg->f = this->fx; - - // Call the existing disparity processing function - this->process_disparity_image(disparity_msg); -} - -cv::Mat DisparityExpansionNode::convert_depth_to_disparity(const cv::Mat &depth_image) -{ - if (depth_image.empty()) - { - RCLCPP_ERROR(this->get_logger(), - "Depth image is empty in depthToDisparity. Raising an error."); - throw std::runtime_error("Depth image is empty in depthToDisparity."); - } - - cv::Mat disparity_image(depth_image.size(), CV_32F); - - // DISPARITY FORMULA - - disparity_image = (this->baseline * this->fx) / (depth_image); // MULT BY 100 - - RCLCPP_INFO_ONCE(this->get_logger(), "Baseline: %.4f", this->baseline); - RCLCPP_INFO_ONCE(this->get_logger(), "Focal length (fx): %.4f", this->fx); - cv::patchNaNs(disparity_image, 0.0f); - - disparity_image.setTo(0.0f, disparity_image == std::numeric_limits::infinity()); - - return disparity_image; -} - -void DisparityExpansionNode::process_disparity_image( - const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg_disp) -{ - - // auto begin = std::chrono::high_resolution_clock::now(); - - if (!this->LUT_ready) - { - auto &clock = *this->get_clock(); - RCLCPP_INFO_THROTTLE(this->get_logger(), clock, 5, - "LUT not ready yet, probably waiting for camera info. Not processing disparity"); - return; - } - - auto img_msg = std::make_shared(); - img_msg->header = msg_disp->header; - img_msg->height = msg_disp->image.height; - img_msg->width = msg_disp->image.width; - img_msg->encoding = msg_disp->image.encoding; - img_msg->is_bigendian = msg_disp->image.is_bigendian; - img_msg->step = msg_disp->image.step; - img_msg->data = msg_disp->image.data; - - cv_bridge::CvImagePtr fg_msg(new cv_bridge::CvImage()); - cv_bridge::CvImagePtr bg_msg(new cv_bridge::CvImage()); - - cv_bridge::CvImageConstPtr cv_ptrdisparity; - try - { - cv_ptrdisparity = cv_bridge::toCvShare(img_msg, sensor_msgs::image_encodings::TYPE_32FC1); - } - catch (cv_bridge::Exception &e) - { - RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what()); - return; - } - cv::Mat disparity32F = cv_ptrdisparity->image; - if (disparity32F.empty()) - { - RCLCPP_ERROR(this->get_logger(), "Received empty disparity image"); - return; - } - cv::resize(disparity32F, disparity32F, cv::Size(), 1.0 / this->downsample_scale, - 1.0 / this->downsample_scale, cv::INTER_AREA); - if (disparity32F.empty()) - { - RCLCPP_ERROR(this->get_logger(), "Resized disparity image is empty"); - return; - } - if (ignore_left_pixels > 0) - disparity32F(cv::Range::all(), cv::Range(0, ignore_left_pixels)) = std::numeric_limits::quiet_NaN(); - - cv::patchNaNs(disparity32F, 0.f); - - static cv::Mat disparity_fg; - static cv::Mat disparity_bg; - cv::Mat disparity32F_bg; - - if (disparity_fg.size() != disparity32F.size()) - disparity_fg = cv::Mat(disparity32F.size(), disparity32F.type(), -std::numeric_limits::infinity()); - else - disparity_fg.setTo(-std::numeric_limits::infinity()); - - if (disparity_bg.size() != disparity32F.size()) - disparity_bg = cv::Mat(disparity32F.size(), disparity32F.type(), std::numeric_limits::infinity()); - else - disparity_bg.setTo(std::numeric_limits::infinity()); - - fg_msg->header = msg_disp->header; - fg_msg->encoding = sensor_msgs::image_encodings::TYPE_32FC1; - bg_msg->header = msg_disp->header; - bg_msg->encoding = sensor_msgs::image_encodings::TYPE_32FC1; - - RCLCPP_INFO_ONCE(this->get_logger(), "IMG TYPE 32FC, GOOD"); - - rclcpp::Time start = this->get_clock()->now(); - - // In a first step, an intermediate disparity image is generated by horizontally expanding all - // disparity values from the stereo disparity map using the u1/u2 look-up table. - - // The first step expands disparities along the image XY axis Figure 3 (right) - expand(disparity32F, disparity32F, disparity_fg, disparity_bg, false); - - // In a second step, each pixel in the intermediate disparity image is expanded vertically using - // the v1/v2 look-up table and the expansion column is stored with a new disparity value - cv::transpose(disparity_fg, disparity32F); - cv::transpose(disparity_bg, disparity32F_bg); - cv::transpose(disparity_fg, disparity_fg); - cv::transpose(disparity_bg, disparity_bg); - expand(disparity32F, disparity32F_bg, disparity_fg, disparity_bg, true); - cv::transpose(disparity_fg, disparity_fg); - cv::transpose(disparity_bg, disparity_bg); - - disparity_fg.setTo(-1.f, disparity_fg == -std::numeric_limits::infinity()); - disparity_bg.setTo(-1.f, disparity_bg == std::numeric_limits::infinity()); - - /* - auto end = std::chrono::high_resolution_clock::now(); - double elapsed = ((std::chrono::duration)(end - begin)).count(); - static std::vector elapsed_history; - elapsed_history.push_back(elapsed); - if(elapsed_history.size() > 10) - elapsed_history.erase(elapsed_history.begin()); - double average = 0.; - for(double e : elapsed_history) - average += e; - average /= elapsed_history.size(); - RCLCPP_INFO_STREAM(this->get_logger(), "elapsed: " << elapsed << " s | average: " << average << " s"); - */ - - fg_msg->image = disparity_fg; - bg_msg->image = disparity_bg; - - expanded_disparity_fg_pub->publish(*(fg_msg->toImageMsg())); - expanded_disparity_bg_pub->publish(*(bg_msg->toImageMsg())); - - this->publish_frustum(msg_disp); - // only visualize expansion polygon if there's a subscriber - if (expansion_poly_pub->get_subscription_count() > 0) - this->publish_expansion_poly(msg_disp, fg_msg, bg_msg); - // only visualize expansion cloud if there's a subscriber - if (expansion_cloud_pub->get_subscription_count() > 0) - this->publish_expansion_cloud(msg_disp, cv_ptrdisparity, fg_msg, bg_msg); - - return; -} - -void DisparityExpansionNode::expand(cv::Mat &disparity_fg_in, cv::Mat &disparity_bg_in, - cv::Mat &disparity_fg_out, cv::Mat &disparity_bg_out, - bool second_pass) -{ - for (int v = 0; v < disparity_fg_in.rows - 1; v++) - { - for (int u = 0; u < disparity_fg_in.cols - 1; u++) - { - float disparity_value = disparity_fg_in.at(v, u); - - // skip invalid disparities - if (std::isnan(double(disparity_value * this->metric_depth_scale)) || - ((int(disparity_value * this->metric_depth_scale) + 1) >= - this->lut_max_disparity) || - ((int(disparity_value * this->metric_depth_scale) + 1) <= 0)) - continue; - - // get expansion bounds - std::vector> *table = &table_u; - if (second_pass) - table = &table_v; - unsigned int u1 = - table->at(int(disparity_value * this->metric_depth_scale) + 1).at(u).idx1; - unsigned int u2 = - table->at(int(disparity_value * this->metric_depth_scale) + 1).at(u).idx2; - cv::Rect roi = cv::Rect(u1, v, (u2 - u1), 1); - if (roi.width <= 0) - continue; - - double min, max; - cv::Point p1, p2; - cv::minMaxLoc(disparity_fg_in(roi), &min, &max, &p1, &p2); - int max_idx = p2.x; - float disp_new_fg = max; - if (second_pass) - { - disp_new_fg = this->baseline * this->fx / (this->baseline * this->fx / max - this->expansion_radius) + this->pixel_error; - if (disp_new_fg < 0.f) - disp_new_fg = std::numeric_limits::infinity(); - } - - cv::Mat submat_t = disparity_bg_in(roi); - cv::minMaxLoc(submat_t, &min, &max, &p1, &p2, disparity_bg_in(roi) != std::numeric_limits::infinity()); - float disp_to_depth = this->baseline * this->fx / max; - - // find how much this region of background disp should be expanded by looking at the connected components of the max disp - if (second_pass && this->padding < 0.0) - { - cv::Mat submat; - cv::divide(baseline * this->fx, submat_t, submat); - submat = (submat - disp_to_depth); - - float range = this->bg_multiplier * this->expansion_radius; - float max_depth = 0.0; - bool found = true; - int ctr = 1; - while (found) - { - found = false; - for (int j = 0; j < submat.cols; j++) - { - float val = submat.at(0, j); - if (std::isfinite(val) && (val < ctr * range) && (val > max_depth)) - { - found = true; - max_depth = val; - } - } - ctr++; - } - disp_to_depth += max_depth; - } - - if (second_pass) - disp_to_depth += fabs(this->padding) + this->expansion_radius; - float disp_new_bg = this->baseline * this->fx / (disp_to_depth); - if (second_pass) - { - disp_new_bg -= this->pixel_error; - disp_new_bg = disp_new_bg < 0.0 ? 0.0001 : disp_new_bg; - } - cv::max(disparity_fg_out(roi), disp_new_fg, disparity_fg_out(roi)); - cv::min(disparity_bg_out(roi), disp_new_bg, disparity_bg_out(roi)); - - int u_temp = u1 + max_idx; - if (u_temp <= u) - u = u2; - else - u = u_temp - 1; - } - } -} - -void DisparityExpansionNode::publish_frustum( - const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg) -{ - visualization_msgs::msg::Marker marker; - auto sensor_frame = msg->header.frame_id; - marker.header.frame_id = sensor_frame; - marker.ns = "frustum"; - marker.id = 0; - marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; - marker.action = visualization_msgs::msg::Marker::ADD; - marker.pose.position.x = marker.pose.position.y = marker.pose.position.z = 0; - tf2::Quaternion q; - q.setRPY(0.0, 0.0, 0.0); - marker.pose.orientation = tf2::toMsg(q); - - marker.scale.x = marker.scale.y = marker.scale.z = 1.; - marker.color.a = 0.3; - marker.color.r = 0.5; - marker.color.g = 1.0; - marker.color.b = 0.9; - - double max_depth = this->lut_max_disparity * this->baseline * this->fx; - // v, u - std::tuple top_left = {0.0, 0.0}; - std::tuple top_right = {0.0, width}; - std::tuple bottom_left = {height, 0.0}; - std::tuple bottom_right = {height, width}; - std::vector> fov = {top_left, top_right, bottom_right, bottom_left}; - - std::vector points_3d; - for (auto &[v, u] : fov) - { - geometry_msgs::msg::Point point; - point.x = (u - this->cx) * max_depth / this->fx; - point.y = (v - this->cy) * max_depth / this->fy; - point.z = max_depth; - points_3d.push_back(point); - } - geometry_msgs::msg::Point top_left_p = points_3d.at(0); - geometry_msgs::msg::Point top_right_p = points_3d.at(1); - geometry_msgs::msg::Point bottom_right_p = points_3d.at(2); - geometry_msgs::msg::Point bottom_left_p = points_3d.at(3); - geometry_msgs::msg::Point center_p; // 0,0,0 - - // push back the triangles that make up the frustum. 4 sides, and 2 triangles to make the box in - // left face - marker.points.push_back(top_left_p); - marker.points.push_back(bottom_left_p); - marker.points.push_back(center_p); - - // top face - marker.points.push_back(top_left_p); - marker.points.push_back(top_right_p); - marker.points.push_back(center_p); - - // right face - marker.points.push_back(top_right_p); - marker.points.push_back(bottom_right_p); - marker.points.push_back(center_p); - - // bottom face - marker.points.push_back(bottom_left_p); - marker.points.push_back(bottom_right_p); - marker.points.push_back(center_p); - - // frustum base - // upper right triangle - marker.points.push_back(top_left_p); - marker.points.push_back(top_right_p); - marker.points.push_back(bottom_right_p); - // lower left triangle - marker.points.push_back(top_left_p); - marker.points.push_back(bottom_left_p); - marker.points.push_back(bottom_right_p); - - this->frustum_pub->publish(marker); -} - -void DisparityExpansionNode::publish_expansion_poly( - const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg_disp, - const cv_bridge::CvImagePtr &fg_msg, const cv_bridge::CvImagePtr &bg_msg) -{ - visualization_msgs::msg::MarkerArray marker_arr; - visualization_msgs::msg::Marker marker; - marker.header = msg_disp->header; - marker.ns = "occ_space"; - marker.id = 0; - marker.type = visualization_msgs::msg::Marker::LINE_STRIP; - - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.action = visualization_msgs::msg::Marker::ADD; - marker.pose.position.x = 0; // xyz_centroid[0]; - marker.pose.position.y = 0; // xyz_centroid[1]; - marker.pose.position.z = 0; // xyz_centroid[2]; - - tf2::Quaternion q; - q.setRPY(0.0, 0.0, 0.0); - marker.pose.orientation = tf2::toMsg(q); - - marker.scale.x = marker.scale.y = marker.scale.z = 0.5; - marker.color.a = 0.3; // Don't forget to set the alpha! - - geometry_msgs::msg::PolygonStamped poly; - poly.header = msg_disp->header; - int v = 120; - float prev_depth = 0.0; - // TODO: what is this magic number 239? wtf - for (int v = (int)0; v <= 239; v += 10) - { - for (int u = (int)width - 1; u >= 0; u--) - { - float depth_value = - this->baseline * this->fx / - fg_msg->image.at(v, u); // free_msg->image.at(v,u)[0]; - float depth_diff = fabs(depth_value - prev_depth); - prev_depth = depth_value; - if (!std::isnan(depth_value) && !std::isinf(depth_value) && depth_diff < 0.5) - { - marker.color.r = 1.0 * (fg_msg->image.at(v, u) - this->pixel_error) / - fg_msg->image.at(v, u); - marker.color.g = 1.0 * (this->pixel_error) / fg_msg->image.at(v, u); - geometry_msgs::msg::Point gm_p; - gm_p.x = (u - this->cx) * depth_value / this->fx; - gm_p.y = (v - this->cy) * depth_value / this->fy; - gm_p.z = depth_value; - marker.points.push_back(gm_p); - - depth_value = this->baseline * this->fx / bg_msg->image.at(v, u); - gm_p.x = (u - this->cx) * depth_value / this->fx; - gm_p.y = (v - this->cy) * depth_value / this->fy; - gm_p.z = depth_value; - marker.points.push_back(gm_p); - } - else - { - marker_arr.markers.push_back(marker); - marker.points.clear(); - marker.id++; - } - } - } - marker_arr.markers.push_back(marker); - // this->expansion_poly_pub->publish(marker_arr); -} - -void DisparityExpansionNode::publish_expansion_cloud( - const stereo_msgs::msg::DisparityImage::ConstSharedPtr &msg_disp, - const cv_bridge::CvImageConstPtr &cv_ptrdisparity, const cv_bridge::CvImagePtr &fg_msg, - const cv_bridge::CvImagePtr &bg_msg) -{ - PointCloud::Ptr cloud(new PointCloud); - cloud->header.frame_id = msg_disp->header.frame_id; - cloud->height = 1; - cloud->width = 1; - cloud->is_dense = false; - int point_counter = 0; - pcl::PointXYZI pt_fg, pt_bg, pt_free1, pt_free2, pt_real; - - visualization_msgs::msg::MarkerArray marker_array; - visualization_msgs::msg::Marker spheres; - spheres.header = msg_disp->header; - spheres.ns = "spheres"; - spheres.id = 0; - spheres.type = visualization_msgs::msg::Marker::SPHERE_LIST; - spheres.action = visualization_msgs::msg::Marker::ADD; - spheres.scale.x = this->expansion_radius * 2.f; - spheres.scale.y = this->expansion_radius * 2.f; - spheres.scale.z = this->expansion_radius * 2.f; - spheres.color.r = 0.0f; - spheres.color.g = 1.0f; - spheres.color.b = 0.0f; - spheres.color.a = 1.0f; - - for (int v = (int)this->height - 1; v >= 0; v -= 4) - { - for (int u = (int)this->width - 1; u >= 0; u -= 4) - { - // foreground - // free_msg->image.at(v,u)[0]; - float depth_value = this->baseline * this->fx / fg_msg->image.at(v, u); - pt_fg.x = (u - this->cx) * depth_value / this->fx; - pt_fg.y = (v - this->cy) * depth_value / this->fy; - pt_fg.z = depth_value; - pt_fg.intensity = 220; - - // background - // free_msg->image.at(v,u)[1]; - depth_value = this->baseline * this->fx / bg_msg->image.at(v, u); - pt_bg.x = (u - this->cx) * depth_value / this->fx; - pt_bg.y = (v - this->cy) * depth_value / this->fy; - pt_bg.z = depth_value; - pt_bg.intensity = 120; - - // actual depth - // new_disparity_bridgePtr->image.at(v,u); - depth_value = this->baseline * this->fx / cv_ptrdisparity->image.at(v, u); - pt_real.x = (u - this->cx) * depth_value / this->fx; - pt_real.y = (v - this->cy) * depth_value / this->fy; - pt_real.z = depth_value; - pt_real.intensity = 170; //*disparity32F.at(v,u)/200; - - geometry_msgs::msg::Point p; - p.x = pt_real.x; - p.y = pt_real.y; - p.z = pt_real.z; - if (std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z)) - spheres.points.push_back(p); - - point_counter++; - cloud->points.push_back(pt_fg); - point_counter++; - cloud->points.push_back(pt_bg); - point_counter++; - cloud->points.push_back(pt_real); - } - } - cloud->width = point_counter; - - cloud->header.stamp = rclcpp::Time(msg_disp->header.stamp).nanoseconds(); - cloud->header.stamp = pcl_conversions::toPCL(rclcpp::Time(msg_disp->header.stamp)); - - sensor_msgs::msg::PointCloud2 cloud_PC2; - pcl::toROSMsg(*cloud, cloud_PC2); - this->expansion_cloud_pub->publish(cloud_PC2); - - marker_array.markers.push_back(spheres); - this->expansion_poly_pub->publish(marker_array); -} - -int main(int argc, char **argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} diff --git a/robot/ros_ws/src/local/world_models/disparity_expansion/src/disparity_pcd.cpp b/robot/ros_ws/src/local/world_models/disparity_expansion/src/disparity_pcd.cpp deleted file mode 100644 index ea6923a12..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_expansion/src/disparity_pcd.cpp +++ /dev/null @@ -1,309 +0,0 @@ -/* -* Copyright (c) 2016 Carnegie Mellon University, Author -* -* For License information please see the LICENSE file in the root directory. -* -*/ - -//Outputs a point cloud using disparity images. -/* -#include "ros/ros.h" -#include "sensor_msgs/Image.h" -#include "sensor_msgs/CameraInfo.h" -#include "std_msgs/Header.h" -#include -#include "opencv2/core/core.hpp" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -*/ - -#include -#include -#include -#include -//#include -#include -#include - -#include "opencv2/core/core.hpp" -#include "rclcpp/rclcpp.hpp" -#include "sensor_msgs/msg/camera_info.hpp" -#include "sensor_msgs/msg/image.hpp" -#include "std_msgs/msg/header.hpp" -#include -#include -#include -#include - -//#include -//#include -//#include -//#include -#include -#include -#include -#include -#include -#include -#include -#include - -typedef pcl::PointCloud PointCloud; - -class disparity_pcd : public rclcpp::Node -{ -public: - disparity_pcd(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); - //ros::Subscriber cam_info_sub_; - //ros::Subscriber disparity_sub_; - //ros::Publisher disparity_pcd_pub_; - rclcpp::Subscription::SharedPtr cam_info_sub_; - rclcpp::Subscription::SharedPtr disparity_sub_; - rclcpp::Publisher::SharedPtr disparity_pcd_pub_; - - double baseline; - double downsample_scale; - bool got_cam_info; - - void stereoDisparityCb(const sensor_msgs::msg::Image::ConstSharedPtr msg_disp); - void callback(const sensor_msgs::msg::Image::ConstSharedPtr msg_disp, const sensor_msgs::msg::Image::ConstSharedPtr msg_image); - void getCamInfo(const sensor_msgs::msg::CameraInfo::ConstSharedPtr msg_info); - - double fx_,fy_,cx_,cy_; - unsigned int width,height; -}; - -void disparity_pcd::getCamInfo(const sensor_msgs::msg::CameraInfo::ConstSharedPtr msg_info) -{ - if(got_cam_info) - return; - image_geometry::PinholeCameraModel model_;model_.fromCameraInfo ( msg_info ); - RCLCPP_INFO_ONCE(this->get_logger(), "Cam Info Recvd Fx Fy Cx Cy: %f %f , %f %f",model_.fx(),model_.fy(),model_.cx(),model_.cy()); - cx_ = model_.cx()/downsample_scale; - cy_ = model_.cy()/downsample_scale; - fx_ = fy_ = model_.fx()/downsample_scale; - width = msg_info->width/downsample_scale; - height = msg_info->height/downsample_scale; - baseline = -msg_info->p[3]/msg_info->p[0]; - baseline *=downsample_scale; - got_cam_info = true; -} - -void disparity_pcd::stereoDisparityCb(const sensor_msgs::msg::Image::ConstSharedPtr msg_disp){ - RCLCPP_INFO_ONCE(this->get_logger(),"Disparity CB"); - - rclcpp::Time start = this->get_clock()->now(); - cv_bridge::CvImageConstPtr cv_ptrdisparity; - cv_bridge::CvImagePtr di_msg(new cv_bridge::CvImage()); - - cv::Mat disparity32F; - disparity32F = cv::Mat::zeros(msg_disp->height,msg_disp->width,CV_32FC1); - try - { - cv_ptrdisparity = cv_bridge::toCvShare(msg_disp); - disparity32F = cv_ptrdisparity->image; - } - catch (cv_bridge::Exception& e) - { - RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what()); - return; - } - - if(disparity_pcd_pub_->get_subscription_count() > 0 )//create expansion PCD - { - PointCloud::Ptr cloud (new PointCloud); - cloud->header.frame_id = msg_disp->header.frame_id; - cloud->height = 1; - cloud->width =1; - cloud->is_dense = false; - int point_counter=0; - pcl::PointXYZI pt_; - for ( int v = ( int ) height - 1; v >= 0; v-=4 ) - { - for ( int u = ( int ) width - 1; u >= 0; u-=4 ) - { - - // Fill in XYZ - float depth_value = depth_value = baseline * fx_ / disparity32F.at(v,u);//new_disparity_bridgePtr->image.at(v,u); - pt_.x = ( u - cx_ ) * depth_value / fx_; - pt_.y = ( v - cy_ ) * depth_value / fy_; - pt_.z = depth_value; - pt_.intensity = 170; -// if(fg_msg->image.at(v,u) >= 0.1 && bg_msg->image.at(v,u) >= 0.1 ) -// if(new_disparity_bridgePtr->image.at(v,u) > 0.1) - { -// ROS_INFO("depth: %f",new_disparity_bridgePtr->image.at(v,u)); - point_counter++; - cloud->points.push_back ( pt_ ); - } - } - } - cloud->width = point_counter; - //cloud->header.seq = msg_disp->header.seq; - cloud->header.stamp = rclcpp::Time(msg_disp->header.stamp).nanoseconds(); - cloud->header.stamp = pcl_conversions::toPCL(rclcpp::Time(msg_disp->header.stamp)); - - - sensor_msgs::msg::PointCloud2 cloud_PC2; - pcl::toROSMsg(*cloud,cloud_PC2); - disparity_pcd_pub_->publish(cloud_PC2); - } - -// ROS_INFO("Time: %f \t%f",(ros::Time::now()-start).toSec(),1/(ros::Time::now()-start).toSec()); - return; -} - -void disparity_pcd::callback(const sensor_msgs::msg::Image::ConstSharedPtr msg_disp, const sensor_msgs::msg::Image::ConstSharedPtr msg_image) -{ - if(!got_cam_info) - { - RCLCPP_INFO_THROTTLE(this->get_logger(),*this->get_clock(),1,"Cam Info not received, not processing"); - return; - } - RCLCPP_INFO_ONCE(this->get_logger(),"Disparity CB"); - - rclcpp::Time start = this->get_clock()->now(); - cv_bridge::CvImageConstPtr cv_ptrdisparity; - cv_bridge::CvImageConstPtr cv_ptrImage; - cv_bridge::CvImagePtr di_msg(new cv_bridge::CvImage()); - - cv::Mat disparity32F,image32F; - disparity32F = cv::Mat::zeros(msg_disp->height,msg_disp->width,CV_32FC1); - image32F = cv::Mat::zeros(msg_image->height,msg_image->width,CV_32FC1); - try - { - cv_ptrdisparity = cv_bridge::toCvShare(msg_disp); - disparity32F = cv_ptrdisparity->image; - - cv_ptrImage= cv_bridge::toCvShare(msg_image); - cv_ptrImage->image.convertTo(image32F,CV_32F); - } - catch (cv_bridge::Exception& e) - { - RCLCPP_ERROR(this->get_logger(),"cv_bridge exception: %s", e.what()); - return; - } - - if(disparity_pcd_pub_->get_subscription_count() > 0 )//create expansion PCD - { - PointCloud::Ptr cloud (new PointCloud); - cloud->header.frame_id = msg_disp->header.frame_id; - cloud->height = 1; - cloud->width =1; - cloud->is_dense = false; - int point_counter=0; - pcl::PointXYZI pt_; - for ( int v = ( int ) height - 1; v >= 0; v-=4 ) - { - for ( int u = ( int ) width - 1; u >= 0; u-=4 ) - { - - // Fill in XYZ - float depth_value = depth_value = baseline * fx_ / disparity32F.at(v,u);//new_disparity_bridgePtr->image.at(v,u); - pt_.x = ( u - cx_ ) * depth_value / fx_; - pt_.y = ( v - cy_ ) * depth_value / fy_; - pt_.z = depth_value; - pt_.intensity = image32F.at(v,u); -// if(fg_msg->image.at(v,u) >= 0.1 && bg_msg->image.at(v,u) >= 0.1 ) -// if(new_disparity_bridgePtr->image.at(v,u) > 0.1) - { -// ROS_INFO("depth: %f",new_disparity_bridgePtr->image.at(v,u)); - point_counter++; - cloud->points.push_back ( pt_ ); - } - } - } - cloud->width = point_counter; - //cloud->header.seq = msg_disp->header.seq; - //cloud->header.stamp = pcl_conversions::toPCL(msg_disp->header.stamp); - cloud->header.stamp = rclcpp::Time(msg_disp->header.stamp).nanoseconds(); - cloud->header.stamp = pcl_conversions::toPCL(rclcpp::Time(msg_disp->header.stamp)); - - sensor_msgs::msg::PointCloud2 cloud_PC2; - pcl::toROSMsg(*cloud,cloud_PC2); - disparity_pcd_pub_->publish(cloud_PC2); - } - -// ROS_INFO("Time: %f \t%f",(ros::Time::now()-start).toSec(),1/(ros::Time::now()-start).toSec()); - return; -} - -disparity_pcd::disparity_pcd(const rclcpp::NodeOptions & options) -: Node("disparity_pcd", options) -{ - disparity_pcd_pub_ = this->create_publisher("/pcd", 10); - //cam_info_sub_ = nh.subscribe("/nerian_sp1/right/camera_info", 1,&disparity_pcd::getCamInfo,this); - cam_info_sub_ = this->create_subscription("/nerian_sp1/right/camera_info", 10, std::bind(&disparity_pcd::getCamInfo, this, std::placeholders::_1)); - - //nh.param("downsample_scale", downsample_scale, 1.0); - //ROS_INFO("into constr"); - this->declare_parameter("downsample_scale", 1.0); - this->get_parameter("downsample_scale", downsample_scale); - - RCLCPP_INFO(this->get_logger(), "into constr"); -// disparity_sub_ = nh.subscribe("/disparity", 1,&disparity_pcd::stereoDisparityCb,this); - - // Q-Matrix - // [1.0 0.0 0.0 -317.20617294311523, - // 0.0 1.0 0.0 -233.2914752960205, - // 0.0 0.0 0.0 307.4838344732113, - // 0.0 0.0 1.7930881143612616 -0.0] - -// cx_ = 317.20617294311523; -// cy_ = 233.2914752960205; -// fx_ = fy_ = 307.4838344732113; -// baseline = 0.5576007548439765; -// downsample_scale =1.0; - got_cam_info = false; -// width = 640; -// height = 480; - -// auto disp_sub_ = std::make_shared>(node.get(), "/disparity", 10); -// auto image_sub_ = std::make_shared>(shared_from_this(), "/nerian_sp1/left/image_raw", 10); - -// auto sync = std::make_shared>(*disp_sub_, *image_sub_, 10); -// sync->registerCallback(std::bind(&disparity_pcd::callback, this, std::placeholders::_1, std::placeholders::_2)); -} - -int main(int argc, char** argv) -{ - rclcpp::init(argc, argv); - // cv::initModule_nonfree();//THIS LINE IS IMPORTANT for using surf and sift features of opencv - //ros::NodeHandle nh("~"); - auto node = std::make_shared(rclcpp::NodeOptions()); - - using SyncPolicy = message_filters::sync_policies::ApproximateTime; - auto disp_sub = std::make_shared>( - node.get(), "/nerian_sp1/disparity_map", rmw_qos_profile_default); - auto image_sub = std::make_shared>( - node.get(), "/nerian_sp1/left/image_raw", rmw_qos_profile_default); - - auto sync = std::make_shared>(SyncPolicy(10), - *disp_sub, *image_sub); - - sync->registerCallback( - std::bind(&disparity_pcd::callback, node, std::placeholders::_1, std::placeholders::_2)); - - - //disparity_pcd d(nh); - //message_filters::Subscriber disp_sub(nh, "/disparity", 1); - //message_filters::Subscriber image_sub(nh, "/nerian_sp1/left/image_raw", 1); - //message_filters::TimeSynchronizer sync(disp_sub, image_sub, 10); - //sync.registerCallback(boost::bind(&disparity_pcd::callback,&d, _1, _2)); - - rclcpp::spin(node); - rclcpp::shutdown(); - - return 0; -} diff --git a/robot/ros_ws/src/local/world_models/disparity_graph/CMakeLists.txt b/robot/ros_ws/src/local/world_models/disparity_graph/CMakeLists.txt deleted file mode 100644 index 8478015a6..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph/CMakeLists.txt +++ /dev/null @@ -1,92 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(disparity_graph) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_ros REQUIRED) -find_package(rclcpp REQUIRED) -find_package(pcl_ros REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(cv_bridge REQUIRED) -find_package(image_geometry REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(image_transport REQUIRED) -find_package(visualization_msgs REQUIRED) - -find_package(OpenCV REQUIRED) -find_package(PCL REQUIRED) - -add_library(disparity_graph src/disparity_graph.cpp) -target_compile_features(disparity_graph PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 - -target_include_directories(disparity_graph PUBLIC - $ - $) - -ament_target_dependencies( - disparity_graph - "rclcpp" - "sensor_msgs" - "std_msgs" - "tf2" - "tf2_ros" - "tf2_geometry_msgs" - "geometry_msgs" - "cv_bridge" - "image_geometry" - "nav_msgs" - "image_transport" - "OpenCV" - "visualization_msgs" -) - -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. -target_compile_definitions(disparity_graph PRIVATE "DISPARITY_GRAPH_BUILDING_LIBRARY") - -install( - DIRECTORY include/ - DESTINATION include -) -install( - TARGETS disparity_graph - EXPORT export_${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_include_directories( - include -) -ament_export_libraries( - disparity_graph -) -ament_export_targets( - export_${PROJECT_NAME} -) - -ament_package() diff --git a/robot/ros_ws/src/local/world_models/disparity_graph/README.md b/robot/ros_ws/src/local/world_models/disparity_graph/README.md deleted file mode 100644 index 93b1529ae..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph/README.md +++ /dev/null @@ -1,9 +0,0 @@ -# Disparity Graph - -Maintains a sliding graph of keyframe disparity images and their camera poses for occupancy queries by disparity-based cost maps. A single disparity frame only covers the current camera view; keeping a rolling window of past (pose, expanded-disparity) keyframes gives the local planner spatial memory of obstacles the camera is no longer looking at. - -Used by [`disparity_graph_cost_map`](../disparity_graph_cost_map/README.md), which serves collision costs to the [DROAN local planner](../../planners/droan_local_planner/README.md). Expanded disparity inputs come from [`disparity_expansion`](../disparity_expansion/README.md). - -Contact: Andrew Jong - -Docs TODO. Help appreciated. diff --git a/robot/ros_ws/src/local/world_models/disparity_graph/include/disparity_graph/disparity_graph.hpp b/robot/ros_ws/src/local/world_models/disparity_graph/include/disparity_graph/disparity_graph.hpp deleted file mode 100644 index 0bd0fc164..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph/include/disparity_graph/disparity_graph.hpp +++ /dev/null @@ -1,580 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace disparity_graph -{ - - class DisparityGraph - { - struct DisparityGraphNode - { - cv_bridge::CvImagePtr Im_fg; - cv_bridge::CvImagePtr Im_bg; - std_msgs::msg::Header header; - tf2::Transform w2s_tf; - tf2::Transform s2w_tf; - }; - std::deque disp_graph_; - - rclcpp::Node::SharedPtr node_ptr; - - size_t graph_size_; - double thresh_; - std::shared_ptr tf_buffer_ptr; - std::string sensor_frame, fixed_frame, stabilized_frame; - visualization_msgs::msg::Marker marker_; - rclcpp::Publisher::SharedPtr disparity_graph_marker_pub_; - rclcpp::Publisher::SharedPtr virtual_obstacles_marker_pub_; - double angle_tol, displacement_tol, assume_seen_within_radius; - bool first; - bool got_cam_info; - double fx_, fy_, cx_, cy_, baseline_, downsample_scale; - unsigned int width_, height_; - - bool everything_seen_and_free; - bool use_virtual_cylinder; - double virtual_cylinder_x, virtual_cylinder_y, virtual_cylinder_radius; - - std::mutex io_mutex; - - rclcpp::Subscription::SharedPtr cam_info_sub_; - - message_filters::Subscriber disp_fg_sub_, disp_bg_sub_; - typedef message_filters::sync_policies::ExactTime - ExactPolicy; - typedef message_filters::Synchronizer ExactSync; - - std::shared_ptr exact_sync; - - public: - DisparityGraph() - : graph_size_(10), - angle_tol(30.0), - displacement_tol(1.5), - first(true), - got_cam_info(false) - { - } - - // we need this separate initialization function because we're taking a node_ptr. shared_from_this() only works after constructor exits. - // ideally we switch to use nodelets so there's a proper setup/activate phase - void initialize(const rclcpp::Node::SharedPtr &node_ptr, - const std::shared_ptr tf_buffer_ptr) - { - RCLCPP_INFO(node_ptr->get_logger(), "DisparityGraph initialize called"); - this->node_ptr = node_ptr; - this->tf_buffer_ptr = tf_buffer_ptr; - disparity_graph_marker_pub_ = - node_ptr->create_publisher("disparity_graph", 10); - virtual_obstacles_marker_pub_ = - node_ptr->create_publisher("virtual_obstacles", 10); - - node_ptr->declare_parameter("baseline_fallback", 0.5); - - node_ptr->declare_parameter("fixed_frame", "map"); - node_ptr->get_parameter("fixed_frame", this->fixed_frame); - node_ptr->declare_parameter("stabilized_frame", "base_link_stabilized"); - node_ptr->get_parameter("stabilized_frame", this->stabilized_frame); - node_ptr->declare_parameter("assume_seen_within_radius", 1.0); - node_ptr->get_parameter("assume_seen_within_radius", assume_seen_within_radius); - node_ptr->declare_parameter("downsample_scale", 1.0); - node_ptr->get_parameter("downsample_scale", downsample_scale); - node_ptr->declare_parameter("low_occ_thresh", 0.9); - node_ptr->get_parameter("low_occ_thresh", thresh_); - node_ptr->declare_parameter("graph_size", 10); - node_ptr->get_parameter("graph_size", graph_size_); - node_ptr->declare_parameter("displacement_tolerance", 1.5); - node_ptr->get_parameter("displacement_tolerance", displacement_tol); - node_ptr->declare_parameter("angle_tolerance", 30.0); - angle_tol = node_ptr->get_parameter("angle_tolerance").as_double() * M_PI / 180.0; - - node_ptr->declare_parameter("everything_seen_and_free", false); - node_ptr->get_parameter("everything_seen_and_free", this->everything_seen_and_free); - - // virtual obstacle parameters - node_ptr->declare_parameter("use_virtual_cylinder", false); - node_ptr->get_parameter("use_virtual_cylinder", this->use_virtual_cylinder); - node_ptr->declare_parameter("virtual_cylinder_x", 0.0); - node_ptr->get_parameter("virtual_cylinder_x", this->virtual_cylinder_x); - node_ptr->declare_parameter("virtual_cylinder_y", 0.0); - node_ptr->get_parameter("virtual_cylinder_y", this->virtual_cylinder_y); - node_ptr->declare_parameter("virtual_cylinder_radius", 0.0); - node_ptr->get_parameter("virtual_cylinder_radius", this->virtual_cylinder_radius); - - node_ptr->declare_parameter("expanded_disparity_fg_topic", "expanded_disparity_fg"); - disp_fg_sub_.subscribe(node_ptr, - node_ptr->get_parameter("expanded_disparity_fg_topic").as_string()); - node_ptr->declare_parameter("expanded_disparity_bg_topic", "expanded_disparity_bg"); - disp_bg_sub_.subscribe(node_ptr, - node_ptr->get_parameter("expanded_disparity_bg_topic").as_string()); - - exact_sync.reset(new ExactSync(ExactPolicy(50), disp_fg_sub_, disp_bg_sub_)); - exact_sync->registerCallback(std::bind(&DisparityGraph::disp_cb, this, - std::placeholders::_1, std::placeholders::_2)); - - node_ptr->declare_parameter("camera_info_topic", "camera_info"); - cam_info_sub_ = node_ptr->create_subscription( - node_ptr->get_parameter("camera_info_topic").as_string(), 1, - std::bind(&DisparityGraph::get_cam_info, this, std::placeholders::_1)); - - marker_.header.frame_id = this->fixed_frame; - marker_.ns = "disparityGraph"; - marker_.id = 0; - marker_.type = visualization_msgs::msg::Marker::ARROW; - marker_.action = visualization_msgs::msg::Marker::ADD; - marker_.pose.position.x = 1; - marker_.pose.position.y = 1; - marker_.pose.position.z = 1; - marker_.pose.orientation.x = 0.0; - marker_.pose.orientation.y = 0.0; - marker_.pose.orientation.z = 0.0; - marker_.pose.orientation.w = 1.0; - marker_.scale.x = 0.5; - marker_.scale.y = 0.1; - marker_.scale.z = 0.1; - marker_.color.a = 1.0; // Don't forget to set the alpha! - marker_.color.r = 0.0; - marker_.color.g = 1.0; - marker_.color.b = 0.0; - RCLCPP_INFO(node_ptr->get_logger(), "Disparity Graph Node Started"); - } - - void disp_cb(const sensor_msgs::msg::Image::ConstSharedPtr &disp_fg, - const sensor_msgs::msg::Image::ConstSharedPtr &disp_bg) - { - // RCLCPP_INFO(node_ptr->get_logger(), "Received disp stamp: %lf", - // (node_ptr->get_clock()->now() - disp_fg->header.stamp).seconds()); - this->sensor_frame = disp_fg->header.frame_id; - - tf2::Stamped transform; - try - { - auto timeout = rclcpp::Duration::from_seconds(0.1); - auto tf_msg = - tf_buffer_ptr->lookupTransform(this->sensor_frame, this->fixed_frame, disp_fg->header.stamp, timeout); - tf2::fromMsg(tf_msg, transform); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(node_ptr->get_logger(), "DG disp_cb %s", ex.what()); - return; - } - - std::scoped_lock lock(io_mutex); - - DisparityGraphNode new_graph_node; - - new_graph_node.header = disp_bg->header; - new_graph_node.w2s_tf = transform; - new_graph_node.s2w_tf = transform.inverse(); - try - { - new_graph_node.Im_fg = - cv_bridge::toCvCopy(disp_fg, sensor_msgs::image_encodings::TYPE_32FC1); - new_graph_node.Im_bg = - cv_bridge::toCvCopy(disp_bg, sensor_msgs::image_encodings::TYPE_32FC1); - } - catch (const std::exception &ex) - { - RCLCPP_ERROR(node_ptr->get_logger(), "\n\n\n\n\n\t\t\tDEQUE ERR\n\n\n\n: %s", - ex.what()); - return; - } - - if (first) - { - // if first, initialize the graph by adding the node to the front and back of the queue - first = false; - disp_graph_.push_front(new_graph_node); - disp_graph_.push_back(new_graph_node); - } - else - { - tf2::Vector3 new_position = new_graph_node.s2w_tf.getOrigin(); - std::deque::iterator it, end; - it = disp_graph_.begin(); - end = disp_graph_.end() - 1; - tf2::Vector3 graph_position = it->s2w_tf.getOrigin(); - tf2Scalar angle_difference = tf2::angleShortestPath(new_graph_node.s2w_tf.getRotation(), - it->s2w_tf.getRotation()); - tf2Scalar position_difference = new_position.distance(graph_position); - - if (fabs(angle_difference) >= angle_tol || - fabs(position_difference) > displacement_tol) - { - // RCLCPP_INFO(node_ptr->get_logger(), "Adding new node, graph size now %d", - // (int)disp_graph_.size()); - - if (disp_graph_.size() >= graph_size_) - { - disp_graph_.erase(end); - } - - if (disp_graph_.size() <= graph_size_) - { - disp_graph_.push_front(new_graph_node); - } - } - disp_graph_.pop_back(); - disp_graph_.push_back(new_graph_node); - } - - publish_disparity_graph_marker(); - } - - void publish_disparity_graph_marker() - { - // create marker - visualization_msgs::msg::MarkerArray marker_arr; - - for (uint i = 0; i < disp_graph_.size(); i++) - { - auto position = disp_graph_.at(i).s2w_tf.getOrigin(); - tf2::toMsg(position, marker_.pose.position); - tf2::Quaternion q; - q.setRPY(0, -M_PI_2, 0); // rotate so the arrow faces the +z instead of +x axis - auto rotation = disp_graph_.at(i).s2w_tf.getRotation() * q; - marker_.pose.orientation = tf2::toMsg(rotation); - marker_.header.stamp = node_ptr->now(); - marker_.ns = "pose"; - marker_.id = i; - marker_arr.markers.push_back(marker_); - } - - disparity_graph_marker_pub_->publish(marker_arr); - } - - void get_cam_info(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &cam_info_msg) - { - if (got_cam_info) - { - return; - } - image_geometry::PinholeCameraModel model; - model.fromCameraInfo(cam_info_msg); - // print - RCLCPP_INFO(node_ptr->get_logger(), - "Cam Info Recvd Fx Fy Cx Cy: %f %f , %f %f Baseline: %f", model.fx(), - model.fy(), model.cx(), model.cy(), baseline_); - cx_ = model.cx() / downsample_scale; - cy_ = model.cy() / downsample_scale; - fx_ = fy_ = model.fx() / downsample_scale; - width_ = cam_info_msg->width / downsample_scale; - height_ = cam_info_msg->height / downsample_scale; - double baseline = -cam_info_msg->p[3] / cam_info_msg->p[0]; - baseline_ = baseline; - if (this->baseline_ == 0.0) - { - node_ptr->get_parameter("baseline_fallback", this->baseline_); - RCLCPP_ERROR_STREAM_ONCE( - node_ptr->get_logger(), - "Baseline from camera_info was 0, setting to baseline_fallback:" - << this->baseline_); - } - baseline_ *= downsample_scale; - RCLCPP_INFO(node_ptr->get_logger(), - "Transformed Cam Info Recvd Fx Fy Cx Cy: %f %f, %f %f Baseline: %f with " - "downsamplescale: %f", - model.fx(), model.fy(), model.cx(), model.cy(), baseline_, downsample_scale); - - RCLCPP_WARN(node_ptr->get_logger(), - "Cam Info Constants - Fx Fy Cx Cy: %f %f, %f %f / width=%d - height=%d", fx_, - fy_, cx_, cy_, width_, height_); - - got_cam_info = true; - } - - /** - * @brief checks if the pose is seen by any of the disparity images in the graph and if it is, - * check if it is free - * - * @param pose_to_check the pose to check - * @param thresh threshold for occupancy - * @return std::tuple is_seen, is_free, occupancy value [0, inf] - */ - std::tuple is_pose_seen_and_free( - geometry_msgs::msg::PoseStamped pose_to_check, double thresh) - { - double occupancy = 0.0; // init - geometry_msgs::msg::PointStamped checked_point_stamped; - checked_point_stamped.point = pose_to_check.pose.position; - checked_point_stamped.header = pose_to_check.header; - - geometry_msgs::msg::PointStamped world_point_stamped; - - try - { - tf_buffer_ptr->transform(checked_point_stamped, world_point_stamped, this->fixed_frame); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(node_ptr->get_logger(), "Could not transform %s to %s: %s", - this->fixed_frame.c_str(), pose_to_check.header.frame_id.c_str(), ex.what()); - return {false, false, 0.0}; - } - - tf2::Vector3 optical_point; - tf2::fromMsg(world_point_stamped.point, optical_point); - - std::scoped_lock lock(io_mutex); - - bool is_free = true; // whether the point is unoccupied. we will go through all disparity - // graph nodes to check - bool is_seen = false; // whether the point is is_seen by any of the disparity images - - if (disp_graph_.size() == 0) - { - RCLCPP_WARN_STREAM_ONCE( - node_ptr->get_logger(), - "No disparity images in graph, can't see anything, everything is invalid"); - } - - int occupied_count = 0; - int free_count = 0; - for (const auto &graph_node : disp_graph_) - { - tf2::Vector3 local_point = graph_node.w2s_tf * optical_point; - - float x = local_point.getX(); - float y = local_point.getY(); - float z = local_point.getZ(); - - // RCLCPP_INFO_STREAM(node_ptr->get_logger(), "Local Point: " << x << " " << y << " " << - // z); - - if (local_point.length() < this->assume_seen_within_radius) - { - is_seen = true; // assume the point is seen if it is close to the camera - continue; - } - - // project the 3D point to the image plane - int u = x / z * fx_ + cx_; - int v = y / z * fy_ + cy_; - - // check that the point is within the image bounds, and that it is in front of the - // camera - if (u >= 0 && u < width_ && v >= 0 && v < height_ && z > 0.0) - { - is_seen = true; - - double state_disparity = baseline_ * fx_ / z; - // RCLCPP_INFO_STREAM(node_ptr->get_logger(), "State Disparity: " << - // state_disparity); - - // see Table 1 of Dubey et al. 2017 DROAN. it seems a little different - bool is_state_between_fg_and_bg = - (state_disparity < graph_node.Im_fg->image.at(v, u)) && - (state_disparity > graph_node.Im_bg->image.at(v, u)); - - /* - RCLCPP_INFO_STREAM(node_ptr->get_logger(), "fg: " << graph_node.Im_fg->image.at(v, u) - << " bg: " << graph_node.Im_bg->image.at(v, u) - << " disp: " << state_disparity << " occ: " << ((state_disparity - 0.5) / state_disparity) - << " bt: " << is_state_between_fg_and_bg); - */ - if (is_state_between_fg_and_bg) - { - // if the disparity point lies between the disparity images, it is occupied and - // we add to the occupancy value. - // TODO: what does this value mean? is it the sensor model? It seems to be a - // heuristic based on distance. also shouldn't we clamp this at 1.0? or is it - // not really a probability? - occupancy += (state_disparity - 0.5) / state_disparity; - occupied_count++; - } - else - { - // otherwise it's outside, we subtract from the occupancy value - occupancy -= 0.5 * (state_disparity - 0.5) / state_disparity; - occupancy = occupancy < 0. ? 0. : occupancy; - free_count++; - } - } - if (occupancy >= thresh) - { - is_free = false; - break; - } - } - - // if the point we are checking has only been seen as an obstacle, - // then mark it as not free even if it doesn't pass the threshold - if (is_free && (occupied_count > 0) && (free_count <= 0)) - is_free = false; - - // RCLCPP_INFO_STREAM(node_ptr->get_logger(),"occupancy:" << occupancy << " is_free: " << - // is_free << " is_seen: " << is_seen); - - if (everything_seen_and_free) - { - is_seen = true; - is_free = true; - } - - if (use_virtual_cylinder) - { - tf2::Vector3 p(world_point_stamped.point.x, world_point_stamped.point.y, 0.); - tf2::Vector3 c(virtual_cylinder_x, virtual_cylinder_y, 0.); - - is_free = p.distance(c) >= virtual_cylinder_radius; - } - - return {is_seen, is_free, occupancy}; - } - - bool get_state_cost(geometry_msgs::msg::Pose checked_state, double &cost) - { - geometry_msgs::msg::PointStamped checked_point_stamped; - checked_point_stamped.header.frame_id = "world"; - checked_point_stamped.header.stamp = node_ptr->now(); // - rclcpp::Duration(0.1); - checked_point_stamped.point = checked_state.position; - - geometry_msgs::msg::PointStamped world_point_stamped; - - try - { - tf_buffer_ptr->transform(checked_point_stamped, world_point_stamped, this->fixed_frame); - } - catch (tf2::TransformException &ex) - { - RCLCPP_ERROR(node_ptr->get_logger(), "TF to fixed frame failed: %s", ex.what()); - return false; - } - - tf2::Vector3 optical_point; - tf2::fromMsg(world_point_stamped.point, optical_point); - - std::lock_guard lock(io_mutex); - for (uint i = 0; i < disp_graph_.size(); i++) - { - tf2::Vector3 local_point = disp_graph_.at(i).w2s_tf * optical_point; - - float x, y, z; - - x = local_point.getX(); - y = local_point.getY(); - z = local_point.getZ(); - - if (z < 0.0) - { - return false; - } - - int u = x / z * fx_ + cx_; - int v = y / z * fy_ + cy_; - - if (u >= 0 && u < width_ && v >= 0 && v < height_ && z > 0.0) - { - double state_disparity = baseline_ * fx_ / z; - if ((disp_graph_.at(i).Im_fg->image.at(v, u) > state_disparity) && - (disp_graph_.at(i).Im_bg->image.at(v, u) < state_disparity)) - { - cost += (state_disparity - 0.5) / state_disparity; - } - cost = cost < 0.0 ? 0.0 : cost; - - if (cost > 100.0) - { - cost = 100.0; - return false; - } - } - } - return true; - } - - void virtual_cylinder_viz() - { - if (!use_virtual_cylinder) - return; - visualization_msgs::msg::MarkerArray marker_array; - - visualization_msgs::msg::Marker cylinder; - cylinder.header.frame_id = this->fixed_frame; // Change to your reference frame - cylinder.header.stamp = node_ptr->now(); - cylinder.ns = "virtual_obstacle"; - cylinder.id = 0; - cylinder.type = visualization_msgs::msg::Marker::CYLINDER; - cylinder.action = visualization_msgs::msg::Marker::ADD; - - // Position - cylinder.pose.position.x = this->virtual_cylinder_x; - cylinder.pose.position.y = this->virtual_cylinder_y; - cylinder.pose.position.z = 0.0; // Half height for proper placement on ground - cylinder.pose.orientation.w = 1.0; - - // Size - cylinder.scale.x = this->virtual_cylinder_radius * 2.; // Diameter in x - cylinder.scale.y = this->virtual_cylinder_radius * 2.; // Diameter in y - cylinder.scale.z = 100.; // Height - - // Color - cylinder.color.r = 1.0f; - cylinder.color.g = 0.0f; - cylinder.color.b = 0.0f; - cylinder.color.a = 6.0f; - - cylinder.lifetime = rclcpp::Duration::from_seconds(0); // Forever - - marker_array.markers.push_back(cylinder); - - virtual_obstacles_marker_pub_->publish(marker_array); - } - - void clear_graph(void) - { - std::lock_guard lock(io_mutex); - disp_graph_.clear(); - first = true; - RCLCPP_INFO_STREAM(node_ptr->get_logger(), "<<< DISP GRAPH CLEARED >>>"); - }; - - rclcpp::Publisher::SharedPtr pcdPub, occPub_; - - rclcpp::Publisher::SharedPtr expansion_poly_pub; - float orig_z; - }; - -} // namespace disparity_graph diff --git a/robot/ros_ws/src/local/world_models/disparity_graph/package.xml b/robot/ros_ws/src/local/world_models/disparity_graph/package.xml deleted file mode 100644 index 885dadb0f..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - disparity_graph - 0.0.0 - Maintains a sliding graph of keyframe disparity images and poses for occupancy queries by disparity-based cost maps. - Andrew Jong - BSD-3-Clause-Clear - - ament_cmake_ros - - rclcpp - sensor_msgs - std_msgs - tf2 - tf2_ros - tf2_geometry_msgs - geometry_msgs - cv_bridge - image_geometry - nav_msgs - image_transport - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/robot/ros_ws/src/local/world_models/disparity_graph/src/disparity_graph.cpp b/robot/ros_ws/src/local/world_models/disparity_graph/src/disparity_graph.cpp deleted file mode 100644 index 014714aa7..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph/src/disparity_graph.cpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#include "disparity_graph/disparity_graph.hpp" - -namespace disparity_graph -{ - -} // namespace disparity_graph diff --git a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/CMakeLists.txt b/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/CMakeLists.txt deleted file mode 100644 index fb2689dfe..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/CMakeLists.txt +++ /dev/null @@ -1,109 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(disparity_graph_cost_map) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - - -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_ros REQUIRED) -find_package(airstack_common REQUIRED) -find_package(airstack_msgs REQUIRED) -find_package(cost_map_interface REQUIRED) -find_package(cv_bridge REQUIRED) -find_package(disparity_graph REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(image_geometry REQUIRED) -find_package(image_transport REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(pcl_msgs REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclpy REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(stereo_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_eigen REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(visualization_msgs REQUIRED) -find_package(trajectory_library REQUIRED) - - -add_library(disparity_graph_cost_map src/disparity_graph_cost_map.cpp) -target_compile_features(disparity_graph_cost_map PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 -target_include_directories(disparity_graph_cost_map PUBLIC - $ - $) - -ament_target_dependencies( - disparity_graph_cost_map - airstack_common - airstack_msgs - cost_map_interface - cv_bridge - disparity_graph - geometry_msgs - image_geometry - image_transport - nav_msgs - pcl_msgs - pluginlib - rclcpp - rclpy - sensor_msgs - std_msgs - stereo_msgs - tf2 - tf2_eigen - tf2_geometry_msgs - tf2_ros - visualization_msgs - trajectory_library - ) - -pluginlib_export_plugin_description_file(cost_map_interface disparity_graph_cost_map_plugin.xml) - -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. -#target_compile_definitions(disparity_graph_cost_map PRIVATE "disparity_graph_cost_map_INTERFACE_BUILDING_LIBRARY") - -install( - DIRECTORY include/ - DESTINATION include -) -install( - TARGETS disparity_graph_cost_map - EXPORT export_${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_include_directories( - include -) -ament_export_libraries( - disparity_graph_cost_map -) -ament_export_targets( - export_${PROJECT_NAME} -) - -ament_package() diff --git a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/README.md b/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/README.md deleted file mode 100644 index e6a2df986..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/README.md +++ /dev/null @@ -1,7 +0,0 @@ -# Disparity Graph Cost Map - -A cost map plugin backed by a [disparity graph](../disparity_graph/README.md): it answers "what is the collision cost of this 3D point?" by projecting the query point into the expanded disparity keyframes stored in the graph. The [DROAN local planner](../../planners/droan_local_planner/README.md) loads it via its `cost_map` parameter (`disparity_graph_cost_map::DisparityGraphCostMap`) to score candidate trajectories. - -Contact: Andrew Jong - -Docs TODO. Help appreciated. diff --git a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/disparity_graph_cost_map_plugin.xml b/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/disparity_graph_cost_map_plugin.xml deleted file mode 100644 index 31742997f..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/disparity_graph_cost_map_plugin.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - DisparityGraphCostMap plugin. - - \ No newline at end of file diff --git a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/include/disparity_graph_cost_map/disparity_graph_cost_map.hpp b/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/include/disparity_graph_cost_map/disparity_graph_cost_map.hpp deleted file mode 100644 index 464f843af..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/include/disparity_graph_cost_map/disparity_graph_cost_map.hpp +++ /dev/null @@ -1,115 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#pragma once -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace disparity_graph_cost_map -{ - class DisparityGraphCostMap : public cost_map_interface::CostMapInterface - { - private: - disparity_graph::DisparityGraph disp_graph; - - visualization_msgs::msg::MarkerArray marker_array; - visualization_msgs::msg::Marker unseen_marker, collision_marker, free_marker; - std_msgs::msg::ColorRGBA green; - std_msgs::msg::ColorRGBA gray; - std_msgs::msg::ColorRGBA red; - - double robot_radius; - int obstacle_check_num_points; - double obstacle_check_radius; - tf2::Quaternion Q_UP, Q_DOWN, Q_LEFT, Q_RIGHT; - std::set Q_DIRECTIONS; - - tf2::Vector3 quaternion_to_unit_vector(tf2::Quaternion q) - { - tf2::Vector3 unit(1, 0, 0); - return tf2::Transform(q) * unit; - } - - auto create_side_and_up_vectors(tf2::Vector3 direction) - { - // Choose an arbitrary up vector - tf2::Vector3 forward = direction.normalized(); - tf2::Vector3 arbitrary_up(0.0, 0.0, 1.0); - - // If forward is parallel to arbitrary_up, choose a different up vector - if (fabs(forward.dot(arbitrary_up)) > 0.999) - { - arbitrary_up = tf2::Vector3(0.0, 1.0, 0.0); - } - - // Side vector (perpendicular to both forward and arbitrary up) - tf2::Vector3 side = forward.cross(arbitrary_up).normalized(); - - // True up vector (perpendicular to both forward and side) - tf2::Vector3 up = side.cross(forward).normalized(); - - return std::make_pair(side, up); - } - - geometry_msgs::msg::PoseStamped get_pose_at_direction_and_distance( - const Trajectory &trajectory, const Waypoint &waypoint, double dist, - const tf2::Vector3 direction); - - std::tuple check_pose(const Trajectory &trajectory, - const Waypoint &waypoint, double dist, - const tf2::Vector3 &direction, - double &closest_obstacle_distance); - tf2::Vector3 determine_waypoint_direction(const Trajectory &trajectory, - const Waypoint &waypoint, size_t waypoint_index); - - void add_check_marker(bool is_seen, bool is_free, double distance, - const geometry_msgs::msg::PoseStamped &pose_to_check); - - public: - DisparityGraphCostMap(); - - virtual const visualization_msgs::msg::MarkerArray &get_debug_markerarray() const override; - - virtual std::vector> get_trajectory_costs_per_waypoint( - const std::vector &trajectories) override; - - virtual void initialize(const rclcpp::Node::SharedPtr &node_ptr, - const std::shared_ptr tf_buffer_ptr) override; - - virtual void clear(); - }; -} // namespace disparity_graph_cost_map diff --git a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/package.xml b/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/package.xml deleted file mode 100644 index 4cbb781b0..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/package.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - disparity_graph_cost_map - 0.0.0 - Cost map plugin backed by a disparity graph, providing trajectory collision costs to the DROAN local planner. - - Andrew Jong - BSD-3-Clause-Clear - - ament_cmake - - airstack_common - airstack_msgs - cost_map_interface - cv_bridge - disparity_graph - geometry_msgs - nav_msgs - pluginlib - rclcpp - rclpy - sensor_msgs - std_msgs - stereo_msgs - tf2 - tf2_ros - tf2_geometry_msgs - visualization_msgs - trajectory_library - - ament_lint_auto - ament_lint_common - - - ament_cmake - - \ No newline at end of file diff --git a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/src/disparity_graph_cost_map.cpp b/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/src/disparity_graph_cost_map.cpp deleted file mode 100644 index 41fdb9350..000000000 --- a/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/src/disparity_graph_cost_map.cpp +++ /dev/null @@ -1,304 +0,0 @@ -// Copyright (c) 2024 Carnegie Mellon University -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to deal -// in the Software without restriction, including without limitation the rights -// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in all -// copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -// SOFTWARE. - -#include -namespace disparity_graph_cost_map { -DisparityGraphCostMap::DisparityGraphCostMap() : CostMapInterface(), disp_graph() { - unseen_marker.ns = "unseen"; - unseen_marker.id = 0; - unseen_marker.type = visualization_msgs::msg::Marker::SPHERE_LIST; - unseen_marker.action = visualization_msgs::msg::Marker::ADD; - unseen_marker.scale.x = 0.03; - unseen_marker.scale.y = 0.03; - unseen_marker.scale.z = 0.03; - - collision_marker = unseen_marker; - collision_marker.ns = "collision"; - - free_marker = unseen_marker; - free_marker.ns = "free"; - - green.r = 0; - green.b = 0; - green.g = 1; - green.a = 1.0; - gray.r = 0.7; - gray.b = 0.7; - gray.g = 0.7; - gray.a = 1.0; - red.r = 1; - red.b = 0; - red.g = 0; - red.a = 1.0; - - Q_UP.setRPY(0, -M_PI / 2, 0); - Q_DOWN.setRPY(0, M_PI / 2, 0); - Q_LEFT.setRPY(0, 0, M_PI / 2); - Q_RIGHT.setRPY(0, 0, -M_PI / 2); - Q_DIRECTIONS = {Q_UP, Q_DOWN, Q_LEFT, Q_RIGHT}; -} - -void DisparityGraphCostMap::initialize(const rclcpp::Node::SharedPtr& node_ptr, - const std::shared_ptr tf_buffer_ptr) { - RCLCPP_INFO(node_ptr->get_logger(), "DisparityGraphCostMap initialize called"); - CostMapInterface::initialize(node_ptr, tf_buffer_ptr); - - node_ptr->declare_parameter("robot_radius", 1.0); - node_ptr->get_parameter("robot_radius", this->robot_radius); - RCLCPP_INFO_STREAM(node_ptr->get_logger(), "robot_radius: " << this->robot_radius); - - node_ptr->declare_parameter("obstacle_check_num_points", 4); - node_ptr->get_parameter("obstacle_check_num_points", this->obstacle_check_num_points); - RCLCPP_INFO_STREAM(node_ptr->get_logger(), - "obstacle_check_num_points: " << this->obstacle_check_num_points); - - node_ptr->get_parameter("obstacle_check_radius", this->obstacle_check_radius); - RCLCPP_INFO_STREAM(node_ptr->get_logger(), - "obstacle_check_radius: " << this->obstacle_check_radius); - - disp_graph.initialize(node_ptr, tf_buffer_ptr); -} - -tf2::Vector3 DisparityGraphCostMap::determine_waypoint_direction(const Trajectory& trajectory, - const Waypoint& waypoint, - size_t waypoint_index) { - tf2::Vector3 waypoint_direction; - if (trajectory.get_num_waypoints() == 1) { - // edge case: only 1 waypoint, make direction match the waypoint's heading - waypoint_direction = quaternion_to_unit_vector(waypoint.quaternion()); - } else { - if (&waypoint == &(trajectory.get_waypoint(0))) { - // edge case: first waypoint, direction is from waypoint 0 to waypoint 1 - waypoint_direction = trajectory.get_waypoint(1).position() - waypoint.position(); - } else { - // otherwise direction is from previous waypoint to current waypoint - waypoint_direction = - waypoint.position() - trajectory.get_waypoint(waypoint_index - 1).position(); - } - } - return waypoint_direction; -} - -/** - * @brief for each trajectory, calculate each waypoint's cost to be inversely proportional to the - * distance to the closest non-free space. Algorithm: For each waypoint, check in 4 directions (up, - * down, left, right) along the obstacle_check_radius for non-free zones. Non-free means either - * OCCUPIED or UNOBSERVED. - * - * If the non-free zone is within the robot radius, then: - * if the non-free zone is OCCUPIED, then the cost is infinite - * if the non-free zone is UNOBSERVED, then the cost is NAN - * - * @param trajectories - * @return std::vector> for each trajectory, the cost of each waypoint - */ -std::vector > DisparityGraphCostMap::get_trajectory_costs_per_waypoint( - const std::vector& trajectories) { - marker_array.markers.clear(); - unseen_marker.points.clear(); - unseen_marker.colors.clear(); - collision_marker.points.clear(); - collision_marker.colors.clear(); - free_marker.points.clear(); - free_marker.colors.clear(); - - // TODO trajectories are not guaranteed to all be in the same frame - if(!trajectories.empty()){ - unseen_marker.header.frame_id = trajectories[0].get_frame_id(); - free_marker.header.frame_id = trajectories[0].get_frame_id(); - collision_marker.header.frame_id = trajectories[0].get_frame_id(); - } - - disp_graph.virtual_cylinder_viz(); - - // initialize cost_values to 0 - std::vector > cost_values(trajectories.size()); - for (size_t i = 0; i < trajectories.size(); i++) { - cost_values[i] = std::vector(trajectories[i].get_num_waypoints(), 0.0); - } - - size_t trajectory_index = -1; - //RCLCPP_INFO_STREAM(node_ptr->get_logger(), "BEGIN---------------------------------------------------"); - for (const Trajectory& trajectory : trajectories) { - ++trajectory_index; - //points_marker.header.frame_id = trajectory.get_frame_id(); - - size_t waypoint_index = -1; - for (const Waypoint& waypoint : trajectory.get_waypoints()) { - ++waypoint_index; - // find the direction of the current trajectory segment between waypoints - // this direction will be used to check for obstacles in a perpendicular direction. - // i.e. left, right, up, down - tf2::Vector3 waypoint_direction = - determine_waypoint_direction(trajectory, waypoint, waypoint_index); - - auto [side, up] = create_side_and_up_vectors(waypoint_direction); - - std::set direction_vectors = {up, side, -up, -side}; - - // for this waypoint, check around the waypoint for obstacles - // the cost is inversely proportional to how close the nearest non-free space is - // if the nearest occupied space is within the robot radius, the cost is infinite - // if the nearest unknown space is within the robot radius, the cost is NAN - bool has_checked_center = false; - double closest_distance_to_unsafe = obstacle_check_radius; - // if the obstacle check radius is 1m, for example, then if the point at 1m was in collision, - // then closest distance to unsafe would also be 1m - // if everything is free, the closest distance to unsafe would also be 1m, which isn't good since its more free - // adding this extra increment makes the case where everything is free score slightly better to account for this - if(obstacle_check_num_points > 0) - closest_distance_to_unsafe += obstacle_check_radius / obstacle_check_num_points; - bool is_non_free_within_robot_radius = false; - //RCLCPP_INFO_STREAM(node_ptr->get_logger(), "start"); - for (auto direction : direction_vectors) { - if (is_non_free_within_robot_radius) { - break; - } - for (int k = 0; k < obstacle_check_num_points + 1; k++) { - bool is_center = (k == 0); - if (is_center && has_checked_center) { - continue; - } - has_checked_center = true; - double dist = k * obstacle_check_radius / obstacle_check_num_points; - - // Get pose to check: - auto pose_to_check = - get_pose_at_direction_and_distance(trajectory, waypoint, dist, direction); - // Check the pose: - auto [is_seen, is_free, occupancy] = - disp_graph.is_pose_seen_and_free(pose_to_check, 0.9); - - // Add marker: - add_check_marker(is_seen, is_free, dist, pose_to_check); - - // Calculate the cost: - - // if the point is within the robot radius, and is collision, the cost is - // infinite - if (/*dist <= this->robot_radius*/is_center && !is_free) { - RCLCPP_DEBUG_STREAM(node_ptr->get_logger(), - "Trajectory " << trajectory_index << " waypoint " - << waypoint_index << " is non-free within " - << this->robot_radius << "m" - << " at distance " << dist - ); - cost_values[trajectory_index][waypoint_index] = - std::numeric_limits::infinity(); - is_non_free_within_robot_radius = true; - break; - } - // if the point is within the robot radius, and is unseen, the cost is NAN - if (/*dist <= this->robot_radius*/is_center && !is_seen) { - RCLCPP_DEBUG_STREAM( - node_ptr->get_logger(), - "Trajectory " << trajectory_index << " waypoint " << waypoint_index - << " is unseen within " << this->robot_radius << "m"); - cost_values[trajectory_index][waypoint_index] = - std::numeric_limits::quiet_NaN(); - is_non_free_within_robot_radius = true; - break; - } - // otherwise if the point is beyond the robot radius, yet it is not free or not - // seen, say the cost is the distance - if (!is_seen || !is_free) { - closest_distance_to_unsafe = std::min(dist, closest_distance_to_unsafe); - //RCLCPP_INFO_STREAM(node_ptr->get_logger(), "\tk: " << k << " " << dist << " " << closest_distance_to_unsafe); - // we can break here because we know the closest distance for this - // direction, don't have to check farther distances break; - } - } - } - if (!is_non_free_within_robot_radius) { - double cost = -closest_distance_to_unsafe;//1 / (1 + closest_distance_to_unsafe); - cost_values[trajectory_index][waypoint_index] = cost; - //RCLCPP_INFO_STREAM(node_ptr->get_logger(), "cost: " << cost << " " << closest_distance_to_unsafe); - } - // continue to next waypoint - } - } - - unseen_marker.header.stamp = node_ptr->now(); - collision_marker.header.stamp = node_ptr->now(); - free_marker.header.stamp = node_ptr->now(); - marker_array.markers.push_back(unseen_marker); - marker_array.markers.push_back(collision_marker); - marker_array.markers.push_back(free_marker); - - return cost_values; -} - -void DisparityGraphCostMap::clear(){ - disp_graph.clear_graph(); -} - -void DisparityGraphCostMap::add_check_marker(bool is_seen, bool is_free, double distance, - const geometry_msgs::msg::PoseStamped& pose_to_check) { - std_msgs::msg::ColorRGBA color; - if (is_seen && is_free) { - color = green; - } else { - if (!is_seen) { - color = gray; - } else if (!is_free) { - color = red; - } - } - - double alpha = (distance <= this->robot_radius) ? 1.0 : 0.1; - color.a = alpha; - - if(!is_seen){ - unseen_marker.points.push_back(pose_to_check.pose.position); - unseen_marker.colors.push_back(color); - } - else if(!is_free){ - collision_marker.points.push_back(pose_to_check.pose.position); - collision_marker.colors.push_back(color); - } - else{ - free_marker.points.push_back(pose_to_check.pose.position); - free_marker.colors.push_back(color); - } -} - -geometry_msgs::msg::PoseStamped DisparityGraphCostMap::get_pose_at_direction_and_distance( - const Trajectory& trajectory, const Waypoint& waypoint, double dist, - const tf2::Vector3 direction) { - tf2::Vector3 target_to_check = waypoint.position() + dist * direction; - geometry_msgs::msg::PoseStamped target_pose; - target_pose.header.frame_id = trajectory.get_frame_id(); - target_pose.header.stamp = trajectory.get_stamp(); - target_pose.pose.position.x = target_to_check.x(); - target_pose.pose.position.y = target_to_check.y(); - target_pose.pose.position.z = target_to_check.z(); - target_pose.pose.orientation.w = 1.0; - return target_pose; -} - -const visualization_msgs::msg::MarkerArray& DisparityGraphCostMap::get_debug_markerarray() const { - return marker_array; -} - -} // namespace disparity_graph_cost_map -#include - -PLUGINLIB_EXPORT_CLASS(disparity_graph_cost_map::DisparityGraphCostMap, - cost_map_interface::CostMapInterface) diff --git a/stacks/full_default/README.md b/stacks/full_default/README.md index ea19a447a..f1053e366 100644 --- a/stacks/full_default/README.md +++ b/stacks/full_default/README.md @@ -9,21 +9,44 @@ baseline other stacks are copied from. The entry point `launch/stack.launch.xml` composes **every layer as a flat set of module-launch includes**: LiDAR near-range filter, stereo disparity/point-cloud pair, topic keepalive, takeoff/land task server, -fixed-trajectory task server, GPU DROAN planner, trajectory controller, PID -controller, VDB mapping, random-walk global planner, and the drone safety -monitor — each module launch file declares its topic endpoints as args with -canonical defaults, so bare includes mean canonical wiring. Two cross-domain -extras run alongside: the DDS-router domain bridge to the GCS and the gossip -coordination layer. Two blocks stay wrapped by design: `interface.launch.py` -(the safety boundary) and `logging.launch.xml` (already a single -self-contained module). +fixed-trajectory task server, the **MIGHTY local planner** (planner + +acl-mapping voxel world model fed by the filtered Ouster cloud + NavigateTask +bridge, from the [asm_mighty](https://github.com/castacks/asm_mighty) +module), trajectory controller, PID controller, VDB mapping, random-walk +global planner, and the drone safety monitor — each module launch file +declares its topic endpoints as args with canonical defaults, so bare +includes mean canonical wiring. Two cross-domain extras run alongside: the +DDS-router domain bridge to the GCS and the gossip coordination layer. Two +blocks stay wrapped by design: `interface.launch.py` (the safety boundary) +and `logging.launch.xml` (already a single self-contained module). + +## The local planner + +MIGHTY (MIT ACL, RA-L 2026) is a map-based planner: a sliding voxel map with +explicit unknown-space handling, convex safe corridors with a tunable +clearance margin, and a Hermite-spline trajectory optimiser, CPU-only. It +serves the same seam every AirStack local planner does — the `tasks/navigate` +`NavigateTask` action in, `trajectory_controller/*` trajectories out — so the +trajectory controller, PID, safety monitor, takeoff/landing and GCS are +planner-agnostic. Planner and world-model tuning lives in the module +(`mighty_bridge/config/*_airstack.yaml`); the launch args it exposes (lidar +and odometry inputs, the mapper→planner grid seam, the altitude band) are +listed in the module README. + +The DROAN reactive planner is the alternative, one include line away: +[`full_droan`](../full_droan/README.md) (GPU) and +[`full_droan_cpu`](../full_droan_cpu/README.md) (CPU) pin the +[asm_droan](https://github.com/castacks/asm_droan) module. Pick DROAN for +depth-camera-only vehicles or minimal compute; pick MIGHTY (this stack) where +clutter is dense and clearance margins matter — the judged comparison is in +the asm_mighty README. ## Baseline This stack is the default: with no stack selected, `robot.launch.xml` -launches it. Its committed [wiring.md](wiring.md) is the observed-graph -baseline that other full stacks are compared against. Verify with the wiring -snapshot test: +launches it. Its `wiring.md` is the observed-graph baseline other full stacks +are compared against; it is generated by the wiring snapshot test, never +hand-edited: ```bash airstack test -m wiring --stack full_default --sim isaacsim --num-robots 1 @@ -36,6 +59,12 @@ airstack up --stack full_default --sim isaac --robots 1 airstack ready ``` +`airstack up` adds the `asm_mighty` pin from this stack's `modules.repos` to +the checkout and syncs it when it is missing (`airstack module list` shows +it). The module declares no image-level dependencies — its nlohmann-json +header dep ships in the trunk robot image — so no module layer is composed +and containers run the trunk images as-is. + The shared per-robot preamble (ROBOT_NAME namespace, `use_sim_time`, `robot_state_publisher`, world→map static TF) runs in `autonomy_bringup/launch/robot.launch.xml`, which dispatches to this stack when @@ -44,14 +73,20 @@ The shared per-robot preamble (ROBOT_NAME namespace, `use_sim_time`, ## Known limits - The interface layer is a wrapped include (`interface.launch.py`) — its - MAVROS wiring is not visible in `stack.launch.xml`; read `wiring.md` for - the observed graph. -- `modules.repos` pins no external modules yet; every package is trunk-resident. -- `docker-compose.yaml` is a stub — per-stack image composition arrives with - the first module pins; trunk compose profiles provide all services. + MAVROS wiring is not visible in `stack.launch.xml`; read the wiring + snapshot for the observed graph. +- MIGHTY needs a 3D lidar cloud (`sensors/ouster/point_cloud` by default); + depth-camera-only vehicles use `full_droan` / `full_droan_cpu`. +- `docker-compose.yaml` is a stub: the pinned module has no dependency layer, + so trunk compose profiles provide all services. ## wiring.md -This stack's observed wiring diagram is committed at [wiring.md](wiring.md); -CI drift-checks the running graph against it. Regenerate via -`airstack test -m wiring --stack full_default`. +This stack's observed wiring diagram lives at `wiring.md` once a validated +wiring-snapshot run commits it; CI then drift-checks the running graph +against it. Until then the snapshot test passes with a bootstrap instruction +naming the observed file to validate and copy in (mechanism: +[Stacks → wiring.md](../../docs/development/stacks.md#wiringmd-generation-and-drift-checking)). +Generate or regenerate via `airstack test -m wiring --stack full_default`. +The previous default topology's baseline is +[`full_droan/wiring.md`](../full_droan/wiring.md). diff --git a/stacks/full_default/docker-compose.yaml b/stacks/full_default/docker-compose.yaml index b3c94abe6..2b48432db 100644 --- a/stacks/full_default/docker-compose.yaml +++ b/stacks/full_default/docker-compose.yaml @@ -1,11 +1,12 @@ -# Per-stack image composition arrives with this stack's first -# module pins: the P4 machinery (tools/compose_module_layers.py) composes -# per-module dependency layers on top of the trunk base image and emits a -# compose override for `airstack up`. +# Per-stack image composition: the P4 machinery +# (tools/compose_module_layers.py) composes per-module dependency layers on +# top of the trunk base image and emits a compose override for `airstack up`. # -# full_default pins no modules (see modules.repos), so there is nothing to -# compose yet -- the trunk compose profiles (root docker-compose.yaml, -# robot/docker/docker-compose.yaml) provide every service meanwhile. The empty -# services map keeps this file valid YAML for the stack-anatomy contract -# (tests/meta/test_stack_layout_contract.py). +# full_default pins the asm_mighty module (see modules.repos), which declares +# no image-level deps (its nlohmann-json header dep ships in the trunk robot +# image), so the zero-module identity rule applies: containers run the trunk +# images byte-identically and nothing is composed. Other stacks' module layers +# are generated by `airstack module lock --build` at lock time, never +# committed. The empty services map keeps this file valid YAML for the +# stack-anatomy contract (tests/meta/test_stack_layout_contract.py). services: {} diff --git a/stacks/full_default/launch/stack.launch.xml b/stacks/full_default/launch/stack.launch.xml index 104d464a9..b1ab0584b 100644 --- a/stacks/full_default/launch/stack.launch.xml +++ b/stacks/full_default/launch/stack.launch.xml @@ -1,12 +1,18 @@ @@ -73,11 +77,13 @@ trajectory controller; action at tasks/fixed_trajectory --> - - + + @@ -73,14 +78,12 @@ trajectory controller; action at tasks/fixed_trajectory --> - - + + - - - + + |"/clock
Clock"| n1 - d0 -->|"/clock
Clock"| n2 - d0 -->|"/clock
Clock"| n3 - d0 -->|"/clock
Clock"| n4 - d0 -->|"/clock
Clock"| n5 - d0 -->|"/clock
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Clock"| n77 - d0 -->|"/clock
Clock"| n78 - d0 -->|"/clock
Clock"| n79 - n33 -->|"/diagnostics
DiagnosticArray"| d1(["/diagnostics (no subscribers)"]) - n35 -->|"/diagnostics
DiagnosticArray"| d1 - n4 -->|"/gossip/peers
PeerProfile"| n4 - n24 -->|"/move_base_simple/goal
PoseStamped"| d2(["/move_base_simple/goal (no subscribers)"]) - d3(["/robot_1/behavior/drone_safety_monitor/command (no publishers)"]) -->|"/robot_1/behavior/drone_safety_monitor/command
String"| n1 - n1 -->|"/robot_1/behavior/drone_safety_monitor/state_estimate_timed_out
Bool"| n75 - n69 -->|"/robot_1/control/reset_integrators
Empty"| n2 - n2 -->|"/robot_1/control/vx_pid_info
PIDInfo"| d4(["/robot_1/control/vx_pid_info (no subscribers)"]) - n2 -->|"/robot_1/control/vy_pid_info
PIDInfo"| d5(["/robot_1/control/vy_pid_info (no subscribers)"]) - n2 -->|"/robot_1/control/vz_pid_info
PIDInfo"| d6(["/robot_1/control/vz_pid_info (no subscribers)"]) - n2 -->|"/robot_1/control/x_pid_info
PIDInfo"| d7(["/robot_1/control/x_pid_info (no subscribers)"]) - n2 -->|"/robot_1/control/y_pid_info
PIDInfo"| d8(["/robot_1/control/y_pid_info (no subscribers)"]) - n2 -->|"/robot_1/control/z_pid_info
PIDInfo"| d9(["/robot_1/control/z_pid_info (no subscribers)"]) - n4 -->|"/robot_1/coordination/peer_registry
PeerProfile"| d10(["/robot_1/coordination/peer_registry (no subscribers)"]) - n68 -->|"/robot_1/cross_track_error
PoseStamped"| d11(["/robot_1/cross_track_error (no subscribers)"]) - n3 -->|"/robot_1/droan/background_expanded
Image"| d12(["/robot_1/droan/background_expanded (no subscribers)"]) - d13(["/robot_1/droan/clear_map (no publishers)"]) -->|"/robot_1/droan/clear_map
Empty"| n3 - d14(["/robot_1/droan/disparity_graph (no publishers)"]) -->|"/robot_1/droan/disparity_graph
MarkerArray"| n76 - d15(["/robot_1/droan/disparity_map_debug (no publishers)"]) -->|"/robot_1/droan/disparity_map_debug
MarkerArray"| n76 - d16(["/robot_1/droan/expansion_cloud (no publishers)"]) -->|"/robot_1/droan/expansion_cloud
PointCloud2"| n76 - d17(["/robot_1/droan/expansion_poly (no publishers)"]) -->|"/robot_1/droan/expansion_poly
MarkerArray"| n76 - n3 -->|"/robot_1/droan/fg_bg_cloud
PointCloud2"| n76 - n3 -->|"/robot_1/droan/foreground_expanded
Image"| d18(["/robot_1/droan/foreground_expanded (no subscribers)"]) - d19(["/robot_1/droan/frustum (no publishers)"]) -->|"/robot_1/droan/frustum
Marker"| n76 - n3 -->|"/robot_1/droan/graph_vis
MarkerArray"| n76 - n3 -->|"/robot_1/droan/local_planner_global_plan_vis
MarkerArray"| n76 - d20(["/robot_1/droan/reset_stuck (no publishers)"]) -->|"/robot_1/droan/reset_stuck
Empty"| n3 - n3 -->|"/robot_1/droan/rewind_info
MarkerArray"| n76 - n3 -->|"/robot_1/droan/stuck
Bool"| d21(["/robot_1/droan/stuck (no subscribers)"]) - n3 -->|"/robot_1/droan/traj_debug
MarkerArray"| n76 - d22(["/robot_1/droan/trajectory_library_vis (no publishers)"]) -->|"/robot_1/droan/trajectory_library_vis
MarkerArray"| n76 - d23(["/robot_1/droan/virtual_obstacles (no publishers)"]) -->|"/robot_1/droan/virtual_obstacles
MarkerArray"| n76 - n68 -->|"/robot_1/global_plan
Path"| n3 - n68 -->|"/robot_1/global_plan
Path"| n4 - n68 -->|"/robot_1/global_plan
Path"| n76 - d24(["/robot_1/interface/attitude_thrust_command (no publishers)"]) -->|"/robot_1/interface/attitude_thrust_command
AttitudeThrust"| n69 - d25(["/robot_1/interface/cmd_attitude_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_attitude_thrust
AttitudeThrust"| n69 - n68 -->|"/robot_1/interface/cmd_pose
PoseStamped"| n69 - d26(["/robot_1/interface/cmd_rate_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_rate_thrust
RateThrust"| n69 - n2 -->|"/robot_1/interface/cmd_roll_pitch_yawrate_thrust
RollPitchYawrateThrust"| n69 - d27(["/robot_1/interface/cmd_torque_thrust (no publishers)"]) -->|"/robot_1/interface/cmd_torque_thrust
TorqueThrust"| n69 - n68 -->|"/robot_1/interface/cmd_velocity
TwistStamped"| n69 - n69 -->|"/robot_1/interface/has_control
Bool"| n75 - n69 -->|"/robot_1/interface/is_armed
Bool"| n75 - d28(["/robot_1/interface/mavros/actuator_control (no publishers)"]) -->|"/robot_1/interface/mavros/actuator_control
ActuatorControl"| n5 - d29(["/robot_1/interface/mavros/adsb/send (no publishers)"]) -->|"/robot_1/interface/mavros/adsb/send
ADSBVehicle"| n6 - n6 -->|"/robot_1/interface/mavros/adsb/vehicle
ADSBVehicle"| d30(["/robot_1/interface/mavros/adsb/vehicle (no subscribers)"]) - n7 -->|"/robot_1/interface/mavros/altitude
Altitude"| d31(["/robot_1/interface/mavros/altitude (no subscribers)"]) - n58 -->|"/robot_1/interface/mavros/battery
BatteryState"| d32(["/robot_1/interface/mavros/battery (no subscribers)"]) - n8 -->|"/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp
CamIMUStamp"| d33(["/robot_1/interface/mavros/cam_imu_sync/cam_imu_stamp (no subscribers)"]) - n9 -->|"/robot_1/interface/mavros/camera/image_captured
CameraImageCaptured"| d34(["/robot_1/interface/mavros/camera/image_captured (no subscribers)"]) - d35(["/robot_1/interface/mavros/cellular_status/status (no publishers)"]) -->|"/robot_1/interface/mavros/cellular_status/status
CellularStatus"| n10 - d36(["/robot_1/interface/mavros/companion_process/status (no publishers)"]) -->|"/robot_1/interface/mavros/companion_process/status
CompanionProcessStatus"| n12 - n13 -->|"/robot_1/interface/mavros/debug_value/debug
DebugValue"| d37(["/robot_1/interface/mavros/debug_value/debug (no subscribers)"]) - n13 -->|"/robot_1/interface/mavros/debug_value/debug_float_array
DebugValue"| d38(["/robot_1/interface/mavros/debug_value/debug_float_array (no subscribers)"]) - n13 -->|"/robot_1/interface/mavros/debug_value/debug_vector
DebugValue"| d39(["/robot_1/interface/mavros/debug_value/debug_vector (no subscribers)"]) - n13 -->|"/robot_1/interface/mavros/debug_value/named_value_float
DebugValue"| d40(["/robot_1/interface/mavros/debug_value/named_value_float (no subscribers)"]) - n13 -->|"/robot_1/interface/mavros/debug_value/named_value_int
DebugValue"| d41(["/robot_1/interface/mavros/debug_value/named_value_int (no subscribers)"]) - d42(["/robot_1/interface/mavros/debug_value/send (no publishers)"]) -->|"/robot_1/interface/mavros/debug_value/send
DebugValue"| n13 - n14 -->|"/robot_1/interface/mavros/esc_status/info
ESCInfo"| d43(["/robot_1/interface/mavros/esc_status/info (no subscribers)"]) - n14 -->|"/robot_1/interface/mavros/esc_status/status
ESCStatus"| d44(["/robot_1/interface/mavros/esc_status/status (no subscribers)"]) - n15 -->|"/robot_1/interface/mavros/esc_telemetry/telemetry
ESCTelemetry"| d45(["/robot_1/interface/mavros/esc_telemetry/telemetry (no subscribers)"]) - n58 -->|"/robot_1/interface/mavros/estimator_status
EstimatorStatus"| d46(["/robot_1/interface/mavros/estimator_status (no subscribers)"]) - n58 -->|"/robot_1/interface/mavros/extended_state
ExtendedState"| n75 - d47(["/robot_1/interface/mavros/fake_gps/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/fake_gps/mocap/tf
TransformStamped"| n16 - n18 -->|"/robot_1/interface/mavros/geofence/fences
WaypointList"| d48(["/robot_1/interface/mavros/geofence/fences (no subscribers)"]) - n19 -->|"/robot_1/interface/mavros/gimbal_control/device/attitude_status
GimbalDeviceAttitudeStatus"| d49(["/robot_1/interface/mavros/gimbal_control/device/attitude_status (no subscribers)"]) - n19 -->|"/robot_1/interface/mavros/gimbal_control/device/info
GimbalDeviceInformation"| d50(["/robot_1/interface/mavros/gimbal_control/device/info (no subscribers)"]) - d51(["/robot_1/interface/mavros/gimbal_control/device/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/device/set_attitude
GimbalDeviceSetAttitude"| n19 - n19 -->|"/robot_1/interface/mavros/gimbal_control/manager/info
GimbalManagerInformation"| d52(["/robot_1/interface/mavros/gimbal_control/manager/info (no subscribers)"]) - d53(["/robot_1/interface/mavros/gimbal_control/manager/set_attitude (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_attitude
GimbalManagerSetAttitude"| n19 - d54(["/robot_1/interface/mavros/gimbal_control/manager/set_manual_control (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_manual_control
GimbalManagerSetPitchyaw"| n19 - d55(["/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw (no publishers)"]) -->|"/robot_1/interface/mavros/gimbal_control/manager/set_pitchyaw
GimbalManagerSetPitchyaw"| n19 - n19 -->|"/robot_1/interface/mavros/gimbal_control/manager/status
GimbalManagerStatus"| d56(["/robot_1/interface/mavros/gimbal_control/manager/status (no subscribers)"]) - n20 -->|"/robot_1/interface/mavros/global_position/compass_hdg
Float64"| n4 - n20 -->|"/robot_1/interface/mavros/global_position/global
NavSatFix"| n53 - n20 -->|"/robot_1/interface/mavros/global_position/global
NavSatFix"| n69 - n20 -->|"/robot_1/interface/mavros/global_position/gp_lp_offset
PoseStamped"| d57(["/robot_1/interface/mavros/global_position/gp_lp_offset (no subscribers)"]) - n20 -->|"/robot_1/interface/mavros/global_position/gp_origin
GeoPointStamped"| n24 - n20 -->|"/robot_1/interface/mavros/global_position/local
Odometry"| n69 - n20 -->|"/robot_1/interface/mavros/global_position/raw/fix
NavSatFix"| n4 - n20 -->|"/robot_1/interface/mavros/global_position/raw/gps_vel
TwistStamped"| d58(["/robot_1/interface/mavros/global_position/raw/gps_vel (no subscribers)"]) - n20 -->|"/robot_1/interface/mavros/global_position/raw/satellites
UInt32"| d59(["/robot_1/interface/mavros/global_position/raw/satellites (no subscribers)"]) - n20 -->|"/robot_1/interface/mavros/global_position/rel_alt
Float64"| d60(["/robot_1/interface/mavros/global_position/rel_alt (no subscribers)"]) - d61(["/robot_1/interface/mavros/global_position/set_gp_origin (no publishers)"]) -->|"/robot_1/interface/mavros/global_position/set_gp_origin
GeoPointStamped"| n20 - d62(["/robot_1/interface/mavros/gps_input/gps_input (no publishers)"]) -->|"/robot_1/interface/mavros/gps_input/gps_input
GPSINPUT"| n21 - n22 -->|"/robot_1/interface/mavros/gps_rtk/rtk_baseline
RTKBaseline"| d63(["/robot_1/interface/mavros/gps_rtk/rtk_baseline (no subscribers)"]) - d64(["/robot_1/interface/mavros/gps_rtk/send_rtcm (no publishers)"]) -->|"/robot_1/interface/mavros/gps_rtk/send_rtcm
RTCM"| n22 - n23 -->|"/robot_1/interface/mavros/gpsstatus/gps1/raw
GPSRAW"| d65(["/robot_1/interface/mavros/gpsstatus/gps1/raw (no subscribers)"]) - n23 -->|"/robot_1/interface/mavros/gpsstatus/gps1/rtk
GPSRTK"| d66(["/robot_1/interface/mavros/gpsstatus/gps1/rtk (no subscribers)"]) - n23 -->|"/robot_1/interface/mavros/gpsstatus/gps2/raw
GPSRAW"| d67(["/robot_1/interface/mavros/gpsstatus/gps2/raw (no subscribers)"]) - n23 -->|"/robot_1/interface/mavros/gpsstatus/gps2/rtk
GPSRTK"| d68(["/robot_1/interface/mavros/gpsstatus/gps2/rtk (no subscribers)"]) - n25 -->|"/robot_1/interface/mavros/hil/actuator_controls
HilActuatorControls"| d69(["/robot_1/interface/mavros/hil/actuator_controls (no subscribers)"]) - n25 -->|"/robot_1/interface/mavros/hil/controls
HilControls"| d70(["/robot_1/interface/mavros/hil/controls (no subscribers)"]) - d71(["/robot_1/interface/mavros/hil/gps (no publishers)"]) -->|"/robot_1/interface/mavros/hil/gps
HilGPS"| n25 - d72(["/robot_1/interface/mavros/hil/imu_ned (no publishers)"]) -->|"/robot_1/interface/mavros/hil/imu_ned
HilSensor"| n25 - d73(["/robot_1/interface/mavros/hil/optical_flow (no publishers)"]) -->|"/robot_1/interface/mavros/hil/optical_flow
OpticalFlowRad"| n25 - d74(["/robot_1/interface/mavros/hil/rc_inputs (no publishers)"]) -->|"/robot_1/interface/mavros/hil/rc_inputs
RCIn"| n25 - d75(["/robot_1/interface/mavros/hil/state (no publishers)"]) -->|"/robot_1/interface/mavros/hil/state
HilStateQuaternion"| n25 - n26 -->|"/robot_1/interface/mavros/home_position/home
HomePosition"| n20 - n26 -->|"/robot_1/interface/mavros/home_position/home
HomePosition"| n69 - n69 -->|"/robot_1/interface/mavros/home_position/set
HomePosition"| n26 - n27 -->|"/robot_1/interface/mavros/imu/data
Imu"| d76(["/robot_1/interface/mavros/imu/data (no subscribers)"]) - n27 -->|"/robot_1/interface/mavros/imu/data_raw
Imu"| d77(["/robot_1/interface/mavros/imu/data_raw (no subscribers)"]) - n27 -->|"/robot_1/interface/mavros/imu/diff_pressure
FluidPressure"| d78(["/robot_1/interface/mavros/imu/diff_pressure (no subscribers)"]) - n27 -->|"/robot_1/interface/mavros/imu/mag
MagneticField"| d79(["/robot_1/interface/mavros/imu/mag (no subscribers)"]) - n27 -->|"/robot_1/interface/mavros/imu/static_pressure
FluidPressure"| d80(["/robot_1/interface/mavros/imu/static_pressure (no subscribers)"]) - n27 -->|"/robot_1/interface/mavros/imu/temperature_baro
Temperature"| d81(["/robot_1/interface/mavros/imu/temperature_baro (no subscribers)"]) - n27 -->|"/robot_1/interface/mavros/imu/temperature_imu
Temperature"| d82(["/robot_1/interface/mavros/imu/temperature_imu (no subscribers)"]) - n28 -->|"/robot_1/interface/mavros/landing_target/lt_marker
Vector3Stamped"| d83(["/robot_1/interface/mavros/landing_target/lt_marker (no subscribers)"]) - d84(["/robot_1/interface/mavros/landing_target/pose (no publishers)"]) -->|"/robot_1/interface/mavros/landing_target/pose
PoseStamped"| n28 - n28 -->|"/robot_1/interface/mavros/landing_target/pose_in
PoseStamped"| d85(["/robot_1/interface/mavros/landing_target/pose_in (no subscribers)"]) - n29 -->|"/robot_1/interface/mavros/local_position/accel
AccelWithCovarianceStamped"| d86(["/robot_1/interface/mavros/local_position/accel (no subscribers)"]) - n29 -->|"/robot_1/interface/mavros/local_position/odom
Odometry"| n70 - n29 -->|"/robot_1/interface/mavros/local_position/pose
PoseStamped"| n53 - n29 -->|"/robot_1/interface/mavros/local_position/pose_cov
PoseWithCovarianceStamped"| d87(["/robot_1/interface/mavros/local_position/pose_cov (no subscribers)"]) - n29 -->|"/robot_1/interface/mavros/local_position/velocity_body
TwistStamped"| d88(["/robot_1/interface/mavros/local_position/velocity_body (no subscribers)"]) - n29 -->|"/robot_1/interface/mavros/local_position/velocity_body_cov
TwistWithCovarianceStamped"| d89(["/robot_1/interface/mavros/local_position/velocity_body_cov (no subscribers)"]) - n29 -->|"/robot_1/interface/mavros/local_position/velocity_local
TwistStamped"| d90(["/robot_1/interface/mavros/local_position/velocity_local (no subscribers)"]) - n30 -->|"/robot_1/interface/mavros/log_transfer/raw/log_data
LogData"| d91(["/robot_1/interface/mavros/log_transfer/raw/log_data (no subscribers)"]) - n30 -->|"/robot_1/interface/mavros/log_transfer/raw/log_entry
LogEntry"| d92(["/robot_1/interface/mavros/log_transfer/raw/log_entry (no subscribers)"]) - n31 -->|"/robot_1/interface/mavros/mag_calibration/report
MagnetometerReporter"| d93(["/robot_1/interface/mavros/mag_calibration/report (no subscribers)"]) - n31 -->|"/robot_1/interface/mavros/mag_calibration/status
UInt8"| d94(["/robot_1/interface/mavros/mag_calibration/status (no subscribers)"]) - n32 -->|"/robot_1/interface/mavros/manual_control/control
ManualControl"| d95(["/robot_1/interface/mavros/manual_control/control (no subscribers)"]) - d96(["/robot_1/interface/mavros/manual_control/send (no publishers)"]) -->|"/robot_1/interface/mavros/manual_control/send
ManualControl"| n32 - n36 -->|"/robot_1/interface/mavros/mission/reached
WaypointReached"| d97(["/robot_1/interface/mavros/mission/reached (no subscribers)"]) - n36 -->|"/robot_1/interface/mavros/mission/waypoints
WaypointList"| d98(["/robot_1/interface/mavros/mission/waypoints (no subscribers)"]) - d99(["/robot_1/interface/mavros/mocap/pose (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/pose
PoseStamped"| n37 - d100(["/robot_1/interface/mavros/mocap/tf (no publishers)"]) -->|"/robot_1/interface/mavros/mocap/tf
TransformStamped"| n37 - d101(["/robot_1/interface/mavros/mount_control/command (no publishers)"]) -->|"/robot_1/interface/mavros/mount_control/command
MountControl"| n38 - n38 -->|"/robot_1/interface/mavros/mount_control/orientation
Quaternion"| d102(["/robot_1/interface/mavros/mount_control/orientation (no subscribers)"]) - n38 -->|"/robot_1/interface/mavros/mount_control/status
Vector3Stamped"| d103(["/robot_1/interface/mavros/mount_control/status (no subscribers)"]) - n39 -->|"/robot_1/interface/mavros/nav_controller_output/output
NavControllerOutput"| d104(["/robot_1/interface/mavros/nav_controller_output/output (no subscribers)"]) - d105(["/robot_1/interface/mavros/obstacle/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle/send
LaserScan"| n40 - d106(["/robot_1/interface/mavros/obstacle_distance_3d/send (no publishers)"]) -->|"/robot_1/interface/mavros/obstacle_distance_3d/send
ObstacleDistance3D"| n41 - n42 -->|"/robot_1/interface/mavros/odometry/in
Odometry"| d107(["/robot_1/interface/mavros/odometry/in (no subscribers)"]) - d108(["/robot_1/interface/mavros/odometry/out (no publishers)"]) -->|"/robot_1/interface/mavros/odometry/out
Odometry"| n42 - d109(["/robot_1/interface/mavros/onboard_computer/status (no publishers)"]) -->|"/robot_1/interface/mavros/onboard_computer/status
OnboardComputerStatus"| n43 - d110(["/robot_1/interface/mavros/open_drone_id/basic_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/basic_id
OpenDroneIDBasicID"| n44 - d111(["/robot_1/interface/mavros/open_drone_id/operator_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/operator_id
OpenDroneIDOperatorID"| n44 - d112(["/robot_1/interface/mavros/open_drone_id/self_id (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/self_id
OpenDroneIDSelfID"| n44 - d113(["/robot_1/interface/mavros/open_drone_id/system (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system
OpenDroneIDSystem"| n44 - d114(["/robot_1/interface/mavros/open_drone_id/system_update (no publishers)"]) -->|"/robot_1/interface/mavros/open_drone_id/system_update
OpenDroneIDSystemUpdate"| n44 - n45 -->|"/robot_1/interface/mavros/optical_flow/ground_distance
Range"| d115(["/robot_1/interface/mavros/optical_flow/ground_distance (no subscribers)"]) - n45 -->|"/robot_1/interface/mavros/optical_flow/raw/optical_flow
OpticalFlow"| d116(["/robot_1/interface/mavros/optical_flow/raw/optical_flow (no subscribers)"]) - d117(["/robot_1/interface/mavros/optical_flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/optical_flow/raw/send
OpticalFlow"| n45 - n46 -->|"/robot_1/interface/mavros/param/event
ParamEvent"| d118(["/robot_1/interface/mavros/param/event (no subscribers)"]) - d119(["/robot_1/interface/mavros/play_tune (no publishers)"]) -->|"/robot_1/interface/mavros/play_tune
PlayTuneV2"| n47 - n48 -->|"/robot_1/interface/mavros/px4flow/ground_distance
Range"| d120(["/robot_1/interface/mavros/px4flow/ground_distance (no subscribers)"]) - n48 -->|"/robot_1/interface/mavros/px4flow/raw/optical_flow_rad
OpticalFlowRad"| d121(["/robot_1/interface/mavros/px4flow/raw/optical_flow_rad (no subscribers)"]) - d122(["/robot_1/interface/mavros/px4flow/raw/send (no publishers)"]) -->|"/robot_1/interface/mavros/px4flow/raw/send
OpticalFlowRad"| n48 - n48 -->|"/robot_1/interface/mavros/px4flow/temperature
Temperature"| d123(["/robot_1/interface/mavros/px4flow/temperature (no subscribers)"]) - n59 -->|"/robot_1/interface/mavros/radio_status
RadioStatus"| d124(["/robot_1/interface/mavros/radio_status (no subscribers)"]) - n49 -->|"/robot_1/interface/mavros/rallypoint/rallypoints
WaypointList"| d125(["/robot_1/interface/mavros/rallypoint/rallypoints (no subscribers)"]) - n50 -->|"/robot_1/interface/mavros/rc/in
RCIn"| d126(["/robot_1/interface/mavros/rc/in (no subscribers)"]) - n50 -->|"/robot_1/interface/mavros/rc/out
RCOut"| d127(["/robot_1/interface/mavros/rc/out (no subscribers)"]) - d128(["/robot_1/interface/mavros/rc/override (no publishers)"]) -->|"/robot_1/interface/mavros/rc/override
OverrideRCIn"| n50 - d129(["/robot_1/interface/mavros/setpoint_accel/accel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_accel/accel
Vector3Stamped"| n51 - d130(["/robot_1/interface/mavros/setpoint_attitude/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/cmd_vel
TwistStamped"| n52 - d131(["/robot_1/interface/mavros/setpoint_attitude/thrust (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_attitude/thrust
Thrust"| n52 - n69 -->|"/robot_1/interface/mavros/setpoint_position/global
GeoPoseStamped"| n53 - d132(["/robot_1/interface/mavros/setpoint_position/global_to_local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_position/global_to_local
GeoPoseStamped"| n53 - n69 -->|"/robot_1/interface/mavros/setpoint_position/local
PoseStamped"| n53 - n69 -->|"/robot_1/interface/mavros/setpoint_raw/attitude
AttitudeTarget"| n54 - d133(["/robot_1/interface/mavros/setpoint_raw/global (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_raw/global
GlobalPositionTarget"| n54 - n69 -->|"/robot_1/interface/mavros/setpoint_raw/local
PositionTarget"| n54 - n54 -->|"/robot_1/interface/mavros/setpoint_raw/target_attitude
AttitudeTarget"| d134(["/robot_1/interface/mavros/setpoint_raw/target_attitude (no subscribers)"]) - n54 -->|"/robot_1/interface/mavros/setpoint_raw/target_global
GlobalPositionTarget"| d135(["/robot_1/interface/mavros/setpoint_raw/target_global (no subscribers)"]) - n54 -->|"/robot_1/interface/mavros/setpoint_raw/target_local
PositionTarget"| d136(["/robot_1/interface/mavros/setpoint_raw/target_local (no subscribers)"]) - n55 -->|"/robot_1/interface/mavros/setpoint_trajectory/desired
Path"| d137(["/robot_1/interface/mavros/setpoint_trajectory/desired (no subscribers)"]) - d138(["/robot_1/interface/mavros/setpoint_trajectory/local (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_trajectory/local
MultiDOFJointTrajectory"| n55 - d139(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel
TwistStamped"| n56 - d140(["/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped (no publishers)"]) -->|"/robot_1/interface/mavros/setpoint_velocity/cmd_vel_unstamped
Twist"| n56 - n57 -->|"/robot_1/interface/mavros/sim_state/acceleration
Vector3Stamped"| d141(["/robot_1/interface/mavros/sim_state/acceleration (no subscribers)"]) - n57 -->|"/robot_1/interface/mavros/sim_state/attitude
Imu"| d142(["/robot_1/interface/mavros/sim_state/attitude (no subscribers)"]) - n57 -->|"/robot_1/interface/mavros/sim_state/global_position
NavSatFix"| d143(["/robot_1/interface/mavros/sim_state/global_position (no subscribers)"]) - n57 -->|"/robot_1/interface/mavros/sim_state/velocity_body
TwistStamped"| d144(["/robot_1/interface/mavros/sim_state/velocity_body (no subscribers)"]) - n57 -->|"/robot_1/interface/mavros/sim_state/velocity_local
TwistStamped"| d145(["/robot_1/interface/mavros/sim_state/velocity_local (no subscribers)"]) - n58 -->|"/robot_1/interface/mavros/state
State"| n69 - n58 -->|"/robot_1/interface/mavros/status_event
StatusEvent"| d146(["/robot_1/interface/mavros/status_event (no subscribers)"]) - n58 -->|"/robot_1/interface/mavros/statustext/recv
StatusText"| d147(["/robot_1/interface/mavros/statustext/recv (no subscribers)"]) - d148(["/robot_1/interface/mavros/statustext/send (no publishers)"]) -->|"/robot_1/interface/mavros/statustext/send
StatusText"| n58 - n58 -->|"/robot_1/interface/mavros/sys_status
SysStatus"| d149(["/robot_1/interface/mavros/sys_status (no subscribers)"]) - n5 -->|"/robot_1/interface/mavros/target_actuator_control
ActuatorControl"| d150(["/robot_1/interface/mavros/target_actuator_control (no subscribers)"]) - n60 -->|"/robot_1/interface/mavros/terrain/report
TerrainReport"| d151(["/robot_1/interface/mavros/terrain/report (no subscribers)"]) - n61 -->|"/robot_1/interface/mavros/time_reference
TimeReference"| d152(["/robot_1/interface/mavros/time_reference (no subscribers)"]) - n61 -->|"/robot_1/interface/mavros/timesync_status
TimesyncStatus"| d153(["/robot_1/interface/mavros/timesync_status (no subscribers)"]) - n62 -->|"/robot_1/interface/mavros/trajectory/desired
Trajectory"| d154(["/robot_1/interface/mavros/trajectory/desired (no subscribers)"]) - d155(["/robot_1/interface/mavros/trajectory/generated (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/generated
Trajectory"| n62 - d156(["/robot_1/interface/mavros/trajectory/path (no publishers)"]) -->|"/robot_1/interface/mavros/trajectory/path
Path"| n62 - d157(["/robot_1/interface/mavros/tunnel/in (no publishers)"]) -->|"/robot_1/interface/mavros/tunnel/in
Tunnel"| n63 - n63 -->|"/robot_1/interface/mavros/tunnel/out
Tunnel"| d158(["/robot_1/interface/mavros/tunnel/out (no subscribers)"]) - n64 -->|"/robot_1/interface/mavros/vfr_hud
VfrHud"| d159(["/robot_1/interface/mavros/vfr_hud (no subscribers)"]) - d160(["/robot_1/interface/mavros/vision_pose/pose (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose
PoseStamped"| n65 - d161(["/robot_1/interface/mavros/vision_pose/pose_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_pose/pose_cov
PoseWithCovarianceStamped"| n65 - d162(["/robot_1/interface/mavros/vision_speed/speed_twist (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist
TwistStamped"| n66 - d163(["/robot_1/interface/mavros/vision_speed/speed_twist_cov (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_twist_cov
TwistWithCovarianceStamped"| n66 - d164(["/robot_1/interface/mavros/vision_speed/speed_vector (no publishers)"]) -->|"/robot_1/interface/mavros/vision_speed/speed_vector
Vector3Stamped"| n66 - n67 -->|"/robot_1/interface/mavros/wind_estimation
TwistWithCovarianceStamped"| d165(["/robot_1/interface/mavros/wind_estimation (no subscribers)"]) - d166(["/robot_1/interface/pose_command (no publishers)"]) -->|"/robot_1/interface/pose_command
PoseStamped"| n69 - d167(["/robot_1/interface/rate_thrust_command (no publishers)"]) -->|"/robot_1/interface/rate_thrust_command
RateThrust"| n69 - d168(["/robot_1/interface/roll_pitch_yawrate_thrust_command (no publishers)"]) -->|"/robot_1/interface/roll_pitch_yawrate_thrust_command
RollPitchYawrateThrust"| n69 - d169(["/robot_1/interface/torque_thrust_command (no publishers)"]) -->|"/robot_1/interface/torque_thrust_command
TorqueThrust"| n69 - d170(["/robot_1/interface/velocity_command (no publishers)"]) -->|"/robot_1/interface/velocity_command
TwistStamped"| n69 - d171(["/robot_1/joint_states (no publishers)"]) -->|"/robot_1/joint_states
JointState"| n73 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n1 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n2 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n68 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n75 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n76 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n77 - n70 -->|"/robot_1/odometry_conversion/odometry
Odometry"| n78 - n71 -->|"/robot_1/perception/stereo_image_proc/disparity
DisparityImage"| n3 - n71 -->|"/robot_1/perception/stereo_image_proc/disparity
DisparityImage"| n72 - n72 -->|"/robot_1/perception/stereo_image_proc/point_cloud
PointCloud2"| n76 - n73 -->|"/robot_1/robot_description
String"| d172(["/robot_1/robot_description (no subscribers)"]) - d173(["/robot_1/sensors/front_stereo/left/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/camera_info
CameraInfo"| n71 - d173 -->|"/robot_1/sensors/front_stereo/left/camera_info
CameraInfo"| n72 - d173 -->|"/robot_1/sensors/front_stereo/left/camera_info
CameraInfo"| n76 - d174(["/robot_1/sensors/front_stereo/left/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/depth_ground_truth
Image"| n76 - d175(["/robot_1/sensors/front_stereo/left/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/left/image_rect
Image"| n71 - d175 -->|"/robot_1/sensors/front_stereo/left/image_rect
Image"| n72 - d175 -->|"/robot_1/sensors/front_stereo/left/image_rect
Image"| n76 - d176(["/robot_1/sensors/front_stereo/right/camera_info (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/camera_info
CameraInfo"| n3 - d176 -->|"/robot_1/sensors/front_stereo/right/camera_info
CameraInfo"| n71 - d176 -->|"/robot_1/sensors/front_stereo/right/camera_info
CameraInfo"| n72 - d176 -->|"/robot_1/sensors/front_stereo/right/camera_info
CameraInfo"| n76 - d177(["/robot_1/sensors/front_stereo/right/depth_ground_truth (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/depth_ground_truth
Image"| n76 - d178(["/robot_1/sensors/front_stereo/right/image_rect (no publishers)"]) -->|"/robot_1/sensors/front_stereo/right/image_rect
Image"| n71 - d178 -->|"/robot_1/sensors/front_stereo/right/image_rect
Image"| n76 - d179(["/robot_1/sensors/lidar/point_cloud (no publishers)"]) -->|"/robot_1/sensors/lidar/point_cloud
PointCloud2"| n76 - n74 -->|"/robot_1/sensors/ouster/point_cloud
PointCloud2"| d180(["/robot_1/sensors/ouster/point_cloud (no subscribers)"]) - d181(["/robot_1/sensors/ouster/point_cloud_raw (no publishers)"]) -->|"/robot_1/sensors/ouster/point_cloud_raw
PointCloud2"| n74 - n75 -->|"/robot_1/takeoff_landing_planner/is_airborne
Bool"| d182(["/robot_1/takeoff_landing_planner/is_airborne (no subscribers)"]) - d183(["/robot_1/takeoff_landing_planner/trajectory_completion_percentage (no publishers)"]) -->|"/robot_1/takeoff_landing_planner/trajectory_completion_percentage
Float32"| n75 - n78 -->|"/robot_1/trajectory_controller/closest_point
Odometry"| d184(["/robot_1/trajectory_controller/closest_point (no subscribers)"]) - n78 -->|"/robot_1/trajectory_controller/look_ahead
Odometry"| n3 - n78 -->|"/robot_1/trajectory_controller/projected_drone_pose
PoseStamped"| n68 - n78 -->|"/robot_1/trajectory_controller/tracking_error
Float32"| d185(["/robot_1/trajectory_controller/tracking_error (no subscribers)"]) - n78 -->|"/robot_1/trajectory_controller/tracking_point
Odometry"| n2 - n78 -->|"/robot_1/trajectory_controller/tracking_point
Odometry"| n3 - n78 -->|"/robot_1/trajectory_controller/tracking_point
Odometry"| n68 - n78 -->|"/robot_1/trajectory_controller/tracking_point
Odometry"| n75 - n78 -->|"/robot_1/trajectory_controller/tracking_point_velocity_magnitude
Float32"| d186(["/robot_1/trajectory_controller/tracking_point_velocity_magnitude (no subscribers)"]) - n78 -->|"/robot_1/trajectory_controller/traj_drone_point
Odometry"| d187(["/robot_1/trajectory_controller/traj_drone_point (no subscribers)"]) - n78 -->|"/robot_1/trajectory_controller/trajectory_completion_percentage
Float32"| n77 - n78 -->|"/robot_1/trajectory_controller/trajectory_controller_debug_markers
MarkerArray"| n76 - n75 -->|"/robot_1/trajectory_controller/trajectory_override
TrajectoryXYZVYaw"| n78 - n77 -->|"/robot_1/trajectory_controller/trajectory_override
TrajectoryXYZVYaw"| n78 - n3 -->|"/robot_1/trajectory_controller/trajectory_segment_to_add
TrajectoryXYZVYaw"| n78 - n78 -->|"/robot_1/trajectory_controller/trajectory_time
Float32"| d188(["/robot_1/trajectory_controller/trajectory_time (no subscribers)"]) - n78 -->|"/robot_1/trajectory_controller/trajectory_vis
MarkerArray"| n76 - n78 -->|"/robot_1/trajectory_controller/virtual_tracking_point
Odometry"| d189(["/robot_1/trajectory_controller/virtual_tracking_point (no subscribers)"]) - d190(["/robot_1/vdb_mapping/vdb_map_visualization (no publishers)"]) -->|"/robot_1/vdb_mapping/vdb_map_visualization
Marker"| n76 - n33 -->|"/tf
TFMessage"| n68 - n33 -->|"/tf
TFMessage"| n76 - n70 -->|"/tf
TFMessage"| n68 - n70 -->|"/tf
TFMessage"| n76 - n73 -->|"/tf
TFMessage"| n68 - n73 -->|"/tf
TFMessage"| n76 - n78 -->|"/tf
TFMessage"| n68 - n78 -->|"/tf
TFMessage"| n76 - n33 -->|"/tf_static
TFMessage"| n68 - n33 -->|"/tf_static
TFMessage"| n76 - n73 -->|"/tf_static
TFMessage"| n68 - n73 -->|"/tf_static
TFMessage"| n76 - n79 -->|"/tf_static
TFMessage"| n68 - n79 -->|"/tf_static
TFMessage"| n76 - n33 -->|"/uas2/mavlink_sink
Mavlink"| n35 - n35 -->|"/uas2/mavlink_source
Mavlink"| n33 -``` - - diff --git a/stacks/lite_offload_global/README.md b/stacks/lite_offload_global/README.md index e7dca9130..865880e1b 100644 --- a/stacks/lite_offload_global/README.md +++ b/stacks/lite_offload_global/README.md @@ -39,7 +39,7 @@ What crosses (the full rationale is in `bridge.yaml`'s header comments): - **offboard → onboard:** `global_plan` (the split's whole point), the `robot_command` / `set_takeoff_landing_command` services, and `tasks/navigate` goals (the offboard `random_walk` is a NavigateTask client - of the onboard `droan_gl` server). `tasks/exploration` crosses the other + of the onboard MIGHTY `mighty_bridge` server). `tasks/exploration` crosses the other way (its server moves offboard with `random_walk`). **What must never cross (doctor hard gate):** `control_setpoint` and the @@ -79,5 +79,6 @@ a running system, `airstack doctor --live --stack lite_offload_global`. [docs/development/fleets.md](../../docs/development/fleets.md). The manual `--stack lite_offload_global:onboard|:offboard` form above remains for single-machine runs. -- `modules.repos` pins no external modules yet; `docker-compose.yaml` is a +- `modules.repos` pins `asm_mighty` for the onboard half (`airstack up` + syncs it when missing; no image-level deps); `docker-compose.yaml` is a stub (trunk compose profiles provide the services). diff --git a/stacks/lite_offload_global/bridge.yaml b/stacks/lite_offload_global/bridge.yaml index f7de88553..271c4af35 100644 --- a/stacks/lite_offload_global/bridge.yaml +++ b/stacks/lite_offload_global/bridge.yaml @@ -98,7 +98,7 @@ bridge: - topic: global_plan type: nav_msgs/msg/Path direction: offboard_to_onboard - qos: reliable # random_walk (offboard) → droan_gl (onboard) + qos: reliable # random_walk (offboard) → mighty_bridge (onboard) # ── services: ground/offboard requests into the vehicle ───────────────── @@ -114,7 +114,7 @@ bridge: - action: tasks/navigate type: task_msgs/action/NavigateTask - direction: offboard_to_onboard # offboard random_walk → onboard droan_gl + direction: offboard_to_onboard # offboard random_walk → onboard mighty_bridge - action: tasks/exploration type: task_msgs/action/ExplorationTask diff --git a/stacks/lite_offload_global/launch/onboard.launch.xml b/stacks/lite_offload_global/launch/onboard.launch.xml index 25b582dee..e08c2dbf7 100644 --- a/stacks/lite_offload_global/launch/onboard.launch.xml +++ b/stacks/lite_offload_global/launch/onboard.launch.xml @@ -70,12 +70,14 @@ trajectory controller; action at tasks/fixed_trajectory --> - - + +