lpzrobots Namespace Reference

read the installation PREFIX (to find data directory) More...

Classes
class	OdeAgent
	Specialised agent for ode robots. More...
class	AngularMotor
	Abstract angular motor class. More...
class	AngularMotor1Axis
	Angular motor for OneAxisJoints. More...
class	AngularMotor2Axis
	Angular motor for TwoAxisJoints. More...
class	AngularMotor3AxisEuler
	Angular motor for Ball Joints with Euler control. More...
class	AngularMotorNAxis
	Angular motor for arbitrary Joints with custom axis (up to 3). More...
class	DummyMotor
class	Motor
	Abstact base class for attachable motors. More...
class	OneAxisServo
	general servo motor More...
class	PID
class	Speaker
class	TwoAxisServo
	general servo motor for 2 axis joints More...
class	AbstractGround
class	AbstractObstacle
	Abstract class (interface) for obstacles. More...
class	ClosedPlayground
class	PolyLine
class	ComplexPlayground
	Playground that uses xfig file with polylines linetype 0 is normal line linetype 1 is border thickness is used as well, thickness is multiplied with wallthickness. More...
class	MeshGround
class	MeshObstacle
class	OctaPlayground
class	PassiveBox
	(Passive) box as obstacle More...
class	PassiveCapsule
	(Passive) capsule as obstacle More...
class	PassiveMesh
	(Passive) mesh as obstacle More...
class	PassiveSphere
	(Passive) sphere as obstacle More...
class	Playground
class	TerrainGround
	Class provides an terrain based on HeightFields. More...
class	OdeConfig
	The class $name holds the configurable parameters of the simulation environment. More...
class	MoveEarthySkyWithEyePointTransform
class	Base
class	BoundingShape
	class for reading bounding shape description files (.bbox) and to create appropriate geoms More...
class	CameraManipulator
	CameraManipulator is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorFollow
	CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorRace
	CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
class	CameraManipulatorTV
	CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More...
struct	Indices
struct	Vertex
class	HeightField
	Height field primitive. More...
class	HUDStatisticsManager
	manages all the stuff displaying statistics on the graphics window. More...
class	Joint
class	OneAxisJoint
class	TwoAxisJoint
class	FixedJoint
class	HingeJoint
class	Hinge2Joint
class	UniversalJoint
class	BallJoint
class	SliderJoint
class	MotionBlurOperation
	a class that enables motion blur for the scenegraph should be called in the main simulation loop More...
class	MotionBlurDrawCallback
	a class that enables motion blur for the scenegraph should be called in the main simulation loop More...
class	OSGHeightField
	Graphical HeightField. More...
class	OSGPrimitive
	Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG. More...
class	OSGDummy
	A dummy graphical object, which has no representation in the graphical world. More...
class	OSGPlane
	Graphical plane (represented as a large thin box, because OSG does not draw planes). More...
class	OSGBox
	Graphical box. More...
class	OSGSphere
	Graphical sphere. More...
class	OSGCapsule
	Graphical capsule (a cylinder with round ends). More...
class	OSGCylinder
	Graphical cylinder. More...
class	OSGMesh
	Graphical Mesh or arbitrary OSG model. More...
class	Primitive
	Interface class for primitives represented in the physical and graphical world. More...
class	Plane
	Plane primitive. More...
class	Box
	Box primitive. More...
class	Sphere
	Sphere primitive. More...
class	Capsule
	Capsule primitive. More...
class	Cylinder
	Cylinder primitive. More...
class	Ray
	Ray primitive The actual visual representation can have different length than the ray object. More...
class	Mesh
	Mesh primitive. More...
class	Transform
	Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More...
class	DummyPrimitive
	Dummy Primitive which returns 0 for geom and body. More...
class	Substance
	Physical substance definition, used for collision detection/treatment What we need is mu, slip and kp,kd parameter for the collision Definition of substance parameters:. More...
class	AddSensors2RobotAdapter
	Robot adapter to add sensors and also motors to robots without the need to modify the robot itself. More...
struct	ArmConf
class	Arm
struct	Arm2SegmConf
class	Arm2Segm
struct	repSlider
struct	AtomConf
struct	TableLine
class	AtomComponent
	AtomComponent. More...
class	Barrel2Masses
	A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...
class	Barrel2Masses2nd
	A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More...
class	CaterPillar
	This is a class, which models a snake like robot. More...
struct	_ComponentConf
class	Component
	This is the abstract base class of the component system. More...
struct	CaterPillarConf
class	DefaultCaterPillar
	This is a class, which models a snake like robot. More...
struct	WheelieConf
class	DefaultWheelie
	This is a class, which models a snake like robot. More...
class	ForcedSphereConf
class	ForcedSphere
class	Formel1
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
struct	FourWheeledConf
class	FourWheeled
	Robot is based on nimm4 with 4 wheels and a capsule like body. More...
struct	HandConf
class	Hand
	Artificial Hand. More...
class	HurlingSnake
	Hurling snake is a string a beats. More...
struct	MuscledArmConf
class	MuscledArm
struct	Bumper
struct	Nimm2Conf
class	Nimm2
	Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More...
class	Nimm4
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More...
class	OdeRobot
	Abstract class for ODE robots. More...
class	PlattfussSchlange
	This is a class, which models a snake like robot with flat ends and a big body in the middle. More...
class	PrimitiveComponent
	Component consisting of one Primitive. More...
class	ReplayRobot
class	RobotComponent
	This is a special class of the component system. More...
struct	SchlangeConf
class	Schlange
	This is a class, which models a snake like robot. More...
class	SchlangeForce
	This is a class, which models a snake like robot. More...
class	SchlangeServo
	This is a class, which models a snake like robot. More...
class	SchlangeServo2
	This is a class, which models a snake like robot. More...
class	SchlangeVelocity
	This is a class, which models a snake like robot. More...
class	ShortCircuit
class	SimpleComponent
	A simple component is a special form of component. More...
struct	SliderWheelieConf
class	SliderWheelie
	This is a class, which models an annular robot. More...
struct	SphererobotConf
class	Sphererobot
	This is a class, which models a snake like robot. More...
struct	Sphererobot3MassesConf
	configuration object for the Sphererobot3Masses robot. More...
class	Sphererobot3Masses
	A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More...
class	TruckMesh
	Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body. More...
struct	UwoConf
class	Uwo
	UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More...
struct	VierBeinerConf
class	VierBeiner
	robot that should look like a dog More...
class	Wheelie
	This is a class, which models an annular robot. More...
class	AxisOrientationSensor
	Class for sensing the axis orienation of a primitive (robot). More...
class	IRSensor
	Class for IR sensors. More...
class	RaySensor
	Abstract class for Ray-based sensors. More...
class	RaySensorBank
	Class for a bank (collection) of ray sensors. More...
class	RelativePositionSensor
	Class for relative position sensing. More...
class	Sensor
	Abstract class for sensors that have no specific position at the robots skeleton. More...
class	SoundSensor
	Sound sensor with possible direction and frequency detection and also distance dependence. More...
class	SpeedSensor
	Class for speed sensing of robots. More...
class	Simulation
class	Axis
class	Color
struct	COMMAND
class	IException
struct	GlobalData
	Data structure holding all essential global information. More...
class	VideoStream
struct	geomPairHash
class	OdeHandle
	Data structure for accessing the ODE. More...
class	OsgHandle
	Data structure for accessing the ODE. More...
class	Pos
class	Sound
	Object that represents a sound signal in the simulator. More...
Typedefs
typedef OneAxisServo	SliderServo
typedef OneAxisServo	HingeServo
typedef OneAxisServo	Hinge2Servo
typedef TwoAxisServo	UniversalServo
typedef int(*)	CollisionCallback (dSurfaceParameters &params, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
	function to be called at a collision event between the two geoms.
typedef lpzrobots::_ComponentConf	ComponentConf
typedef lpzrobots::Bumper	Bumper
typedef bool(*)	commandfunc_t (GlobalData &globalData, char *, char *)
typedef std::vector< AbstractObstacle * >	ObstacleList
typedef std::vector< Configurable * >	ConfigList
typedef std::vector< OdeAgent * >	OdeAgentList
typedef std::list< Sound >	SoundList
Enumerations
enum	parts {   base, base, shoulder1, shoulder2,   upperArm, upperArm, foreArm, hand,   hand }
enum	Motor_type { With_servo_motor, Without_servo_motor }
enum	IrSensor_Type { irDrawAll, irBack, irSide, irFront }
enum	GripMode { lateral, precision }
enum	parts {   base, base, upperArm, upperArm,   lowerArm, mainMuscle11, mainMuscle12, mainMuscle21,   mainMuscle22, smallMuscle11, smallMuscle12, smallMuscle21,   smallMuscle22, smallMuscle31, smallMuscle32, smallMuscle41,   smallMuscle42, hand, hand, NUMParts }
enum	joints {   HJ_BuA, HJ_uAlA, HJ_BmM11, HJ_lAmM12,   HJ_BmM21, HJ_lAmM22, HJ_BsM11, HJ_uAsM12,   HJ_BsM21, HJ_uAsM22, HJ_lAsM31, HJ_uAsM32,   HJ_lAsM41, HJ_uAsM42, SJ_mM1, SJ_mM2,   SJ_sM1, SJ_sM2, SJ_sM3, SJ_sM4,   FJ_lAH, NUMJoints }
Functions
void	printCornerPointsXY (Box *box, FILE *f)
ref_ptr< Material >	getMaterial (const Color &c, Material::ColorMode mode=Material::DIFFUSE)
osg::Matrix	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom
osg::Matrix	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body
osg::Matrix	osgPose (const double *position, const double *rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix
void	odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix
int	dummyCallBack (dSurfaceParameters &params, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
int	irCollCallback (dSurfaceParameters &params, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
static void *	odeStep_run (void *p)
	redirection function, because we can't call member function direct
static void *	osgStep_run (void *p)
	redirection function, because we can't call member function direct
static void	printODEMessage (int num, const char *msg, va_list ap)
void	createNewDir (const char *base, char *newdir)
	creates a new directory with the stem base, which is not yet there (using subsequent numbers)
void	showParams (const ConfigList &configs)
	shows all parameters of all given configurable objects
bool	com_list (GlobalData &globalData, char *, char *)
bool	com_show (GlobalData &globalData, char *, char *)
bool	com_store (GlobalData &globalData, char *, char *)
bool	com_load (GlobalData &globalData, char *, char *)
bool	com_set (GlobalData &globalData, char *, char *)
bool	com_help (GlobalData &globalData, char *, char *)
bool	com_quit (GlobalData &globalData, char *, char *)
char *	stripwhite (char *string)
COMMAND *	find_command (char *name)
bool	execute_line (GlobalData &globalData, char *line)
int	valid_argument (const char *caller, const char *arg)
void	showParam (const Configurable *config)
char *	dupstr (const char *s)
bool	handleConsole (GlobalData &globalData)
	offers a console interface the possibility to change parameter of all configurable objects in globalData storeing and restoreing of controllers .
char *	command_generator (const char *, int)
char **	console_completion (const char *, int, int)
void	initializeConsole ()
	should be called at the start
void	closeConsole ()
	should be called at the end (to store history)
	EXCEPTION_TEMPLATE (IndexOutOfBoundsException)
	EXCEPTION_TEMPLATE (InvalidArgumentException)
	EXCEPTION_TEMPLATE (DimensionMismatchException)
osg::Matrix	osgRotate (const double &alpha, const double &beta, const double &gamma)
	returns a rotation matrix (osg) with the given angles alpha, beta and gamma
Matrix	osgMatrix2Matrixlib (const osg::Matrix &m)
	converts osg matrix to matrix of matrixlib
osg::Matrix	rotationMatrixFromAxisX (const Axis &axis)
	returns a Rotation matrix that rotates the x-axis along with the given axis.
osg::Matrix	rotationMatrixFromAxisZ (const Axis &axis)
	returns a Rotation matrix that rotates the z-axis along with the given axis.
double	getAngle (const osg::Vec3 &a, const osg::Vec3 &b)
	returns the angle between two vectors (in rad)
matrix::Matrix	odeRto3x3RotationMatrixT (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
matrix::Matrix	odeRto3x3RotationMatrix (const double R[12])
	converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
Position	multMatrixPosition (const matrix::Matrix &r, Position &p)
	Multiplies 3x3 matrix with position.
Matrix	getRotationMatrix (const double &angle)
	returns a rotation matrix with the given angle
Matrix	getTranslationMatrix (const Position &p)
	returns a translation matrix with the given Position
Matrix	removeTranslationInMatrix (const matrix::Matrix &pose)
	removes the translation in the matrix
Matrix	removeRotationInMatrix (const matrix::Matrix &pose)
	removes the rotation in the matrix
double	getAngle (Position a, Position b)
	returns the angle between two vectors
template<typename T>
T	normalize360 (T v)
Variables
char	fragmentShaderSource_noBaseTexture []
char	fragmentShaderSource_withBaseTexture []
static FILE *	ODEMessageFile = 0
COMMAND	commands []

---

Detailed Description

read the installation PREFIX (to find data directory)

---

Typedef Documentation

typedef OneAxisServo SliderServo

Examples:

sphererobot3masses.cpp.

typedef OneAxisServo HingeServo

typedef OneAxisServo Hinge2Servo

typedef TwoAxisServo UniversalServo

typedef int(*) CollisionCallback(dSurfaceParameters &params, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)

function to be called at a collision event between the two geoms.

Parameters:

	params	surface parameter, which should be changed/calculated by this function
	globaldata	global information
	userdata	pointer to user data for this callback (stored in substance)
	contacts	array of contact information
	numContacts	length of contact information array
	o1	geom corresponding to substance of this callback
	o2	other geom
	s1	substance of this callback
	s2	other substance

Returns:

0 if collision should not be treated; 1 if collision should be treated otherwise (by other callback or standard methods); 2 if collision to be treated and parameters for collision are set in params

typedef struct lpzrobots::_ComponentConf ComponentConf

typedef struct lpzrobots::Bumper Bumper

typedef bool(*) commandfunc_t(GlobalData &globalData, char *, char *)

typedef std::vector<AbstractObstacle*> ObstacleList

typedef std::vector<Configurable*> ConfigList

typedef std::vector<OdeAgent*> OdeAgentList

typedef std::list<Sound> SoundList

---

Enumeration Type Documentation

enum parts

Enumerator:

base
base
shoulder1
shoulder2
upperArm
upperArm
foreArm
hand
hand

enum Motor_type

Enumerator:

With_servo_motor
Without_servo_motor

enum IrSensor_Type

Enumerator:

irDrawAll
irBack
irSide
irFront

enum GripMode

Enumerator:

lateral
precision

enum parts

Enumerator:

base
base
upperArm
upperArm
lowerArm
mainMuscle11
mainMuscle12
mainMuscle21
mainMuscle22
smallMuscle11
smallMuscle12
smallMuscle21
smallMuscle22
smallMuscle31
smallMuscle32
smallMuscle41
smallMuscle42
hand
hand
NUMParts

enum joints

Enumerator:

HJ_BuA
HJ_uAlA
HJ_BmM11
HJ_lAmM12
HJ_BmM21
HJ_lAmM22
HJ_BsM11
HJ_uAsM12
HJ_BsM21
HJ_uAsM22
HJ_lAsM31
HJ_uAsM32
HJ_lAsM41
HJ_uAsM42
SJ_mM1
SJ_mM2
SJ_sM1
SJ_sM2
SJ_sM3
SJ_sM4
FJ_lAH
NUMJoints

---

Function Documentation

void lpzrobots::printCornerPointsXY	(	Box *	box,
		FILE *	f
	)

ref_ptr< Material > getMaterial	(	const Color &	c,
		Material::ColorMode	mode = Material::DIFFUSE
	)

osg::Matrix osgPose

(

dGeomID

geom

)

returns the osg (4x4) pose matrix of the ode geom

osg::Matrix osgPose

(

dBodyID

body

)

returns the osg (4x4) pose matrix of the ode body

osg::Matrix osgPose	(	const double *	V,
		const double *	R
	)

converts a position vector and a rotation matrix from ode to osg 4x4 matrix

void odeRotation	(	const osg::Matrix &	pose,
		dMatrix3 &	odematrix
	)

converts the rotation component of pose into an ode rotation matrix

int lpzrobots::dummyCallBack	(	dSurfaceParameters &	params,
		GlobalData &	globaldata,
		void *	userdata,
		dContact *	contacts,
		int	numContacts,
		dGeomID	o1,
		dGeomID	o2,
		const Substance &	s1,
		const Substance &	s2
	)

int lpzrobots::irCollCallback	(	dSurfaceParameters &	params,
		GlobalData &	globaldata,
		void *	userdata,
		dContact *	contacts,
		int	numContacts,
		dGeomID	o1,
		dGeomID	o2,
		const Substance &	s1,
		const Substance &	s2
	)

static void * odeStep_run

(

void *

p

)

[static]

redirection function, because we can't call member function direct

static void * osgStep_run

(

void *

p

)

[static]

redirection function, because we can't call member function direct

static void printODEMessage	(	int	num,
		const char *	msg,
		va_list	ap
	)			[static]

void createNewDir	(	const char *	base,
		char *	newdir
	)

creates a new directory with the stem base, which is not yet there (using subsequent numbers)

void showParams

(

const ConfigList &

configs

)

shows all parameters of all given configurable objects

bool com_list	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_show	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_store	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_load	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_set	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_help	(	GlobalData &	globalData,
		char *	,
		char *
	)

bool com_quit	(	GlobalData &	globalData,
		char *	,
		char *
	)

char * stripwhite

(

char *

string

)

COMMAND * find_command

(

char *

name

)

bool execute_line	(	GlobalData &	globalData,
		char *	line
	)

int valid_argument	(	const char *	caller,
		const char *	arg
	)

void lpzrobots::showParam

(

const Configurable *

config

)

char* lpzrobots::dupstr

(

const char *

s

)

bool handleConsole

(

GlobalData &

globalData

)

offers a console interface the possibility to change parameter of all configurable objects in globalData storeing and restoreing of controllers .

.. also informs agents about changes

Returns:

false if program should exit

char * command_generator	(	const char *	,
		int
	)

char ** console_completion	(	const char *	,
		int	,
		int
	)

void initializeConsole

(

)

should be called at the start

void closeConsole

(

)

should be called at the end (to store history)

lpzrobots::EXCEPTION_TEMPLATE

(

IndexOutOfBoundsException

)

lpzrobots::EXCEPTION_TEMPLATE

(

InvalidArgumentException

)

lpzrobots::EXCEPTION_TEMPLATE

(

DimensionMismatchException

)

osg::Matrix osgRotate	(	const double &	alpha,
		const double &	beta,
		const double &	gamma
	)

returns a rotation matrix (osg) with the given angles alpha, beta and gamma

matrix::Matrix osgMatrix2Matrixlib

(

const osg::Matrix &

m

)

converts osg matrix to matrix of matrixlib

osg::Matrix rotationMatrixFromAxisX

(

const Axis &

axis

)

returns a Rotation matrix that rotates the x-axis along with the given axis.

The other 2 axis (y,z) are ambiguous.

osg::Matrix rotationMatrixFromAxisZ

(

const Axis &

axis

)

returns a Rotation matrix that rotates the z-axis along with the given axis.

The other 2 axis (x,y) are ambiguous.

double getAngle	(	const osg::Vec3 &	a,
		const osg::Vec3 &	b
	)

returns the angle between two vectors (in rad)

matrix::Matrix odeRto3x3RotationMatrixT

(

const double

R[12]

)

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)

matrix::Matrix odeRto3x3RotationMatrix

(

const double

R[12]

)

converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)

Position multMatrixPosition	(	const Matrix &	r,
		Position &	p
	)

Multiplies 3x3 matrix with position.

matrix::Matrix getRotationMatrix

(

const double &

angle

)

returns a rotation matrix with the given angle

matrix::Matrix getTranslationMatrix

(

const Position &

p

)

returns a translation matrix with the given Position

matrix::Matrix removeTranslationInMatrix

(

const Matrix &

pose

)

removes the translation in the matrix

matrix::Matrix removeRotationInMatrix

(

const Matrix &

pose

)

removes the rotation in the matrix

double getAngle	(	Position	a,
		Position	b
	)

returns the angle between two vectors

T lpzrobots::normalize360

(

T

v

)

[inline]

---

Variable Documentation

char fragmentShaderSource_noBaseTexture[]

Initial value:

  "uniform sampler2DShadow shadowTexture; \n"
  "uniform vec2 ambientBias; \n"
  "\n"
  "void main(void) \n"
  "{ \n"
  "    ambientBias.x=0.8f; \n"
  "    ambientBias.y=0.4f; \n"
  "    gl_FragColor = gl_Color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[0] ) * ambientBias.y - 0.4f); \n"
  "}\n"

char fragmentShaderSource_withBaseTexture[]

Initial value:

  "uniform sampler2D baseTexture; \n"
  "uniform sampler2DShadow shadowTexture; \n"
  "uniform vec2 ambientBias; \n"
  "\n"
  "void main(void) \n"
  "{ \n"
  "    vec4 color = gl_Color* texture2D( baseTexture, gl_TexCoord[0].xy ); \n"
  "    gl_FragColor = color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[1])  * ambientBias.y); \n"
  "}\n"

FILE* ODEMessageFile = 0 [static]

COMMAND commands[]

Initial value:

 {
  { "param=val",  com_set, "sets PARAM of all objects to VAL" },
  { "help", com_help, "Display this text" },
  { "?",     com_help, "Synonym for `help'" },
  { "list", com_list, "Lists all objects and agents" },
  { "ls",   com_list, "Synonym for `list'" },
  { "set",  com_set, "syntax: set [OBJECTID] PARAM=VAL; sets parameter of Object (or all all objects) to value" },
  { "store", com_store, "Stores controller of AGENTID to FILE" },
  { "load", com_load, "Loads controller of AGENTID from FILE" },
  { "show", com_show, "[OBJECTID]: Lists paramters of OBJECTID or of all objects (if no id given)" },
  { "view", com_show, "Synonym for `show'" },
  { "quit", com_quit, "Quit program" },
  { (char *)NULL, (commandfunc_t)NULL, (char *)NULL }
}

---