MoCapEvent Class Reference
Provides notification of new external localization data. More...
#include <MoCapEvent.h>
Detailed Description
Provides notification of new external localization data.
Could be feedback from simulation, GPS, or a full motion-capture system. May not include data for all reference frames, or may only provide one of position or orientation... You can probably assume at least BaseFrame will be included e.g. getPosition(BaseFrame)/getOrientation(BaseFrame), otherwise you can also access positions or orientations directly for lookup/iteration.
Mirage allows some control over what frames are reported, see MoCapPos and MoCapOri in EnvConfig.h (assigned via command line or a .mirage world configuration file). By default only the base frame is reported for both position and orientation.
Definition at line 18 of file MoCapEvent.h.
Public Types | |
| typedef std::map< unsigned int, fmat::Column < 3 > >::const_iterator | position_iterator |
| typedef std::map< unsigned int, fmat::Quaternion > ::const_iterator | orientation_iterator |
Public Member Functions | |
| MoCapEvent (const std::string &srcName, size_t sid=0) | |
| Constructor. | |
| virtual EventBase * | clone () const |
| Clone implementation. | |
| const fmat::Column< 3 > & | getPosition (unsigned int frameIdx) const |
| Attempts to look up a position reading for the specified reference frame, throws std::out_of_range if not found. | |
| const fmat::Quaternion & | getOrientation (unsigned int frameIdx) const |
| Attempts to look up an orientation reading for the specified reference frame, throws std::out_of_range if not found. | |
| const fmat::Transform | getPose (unsigned int frameIdx) const |
| Constructs a transformation matrix for the specified reference frame, throws std::out_of_range if not found for either position or orientation. | |
Public Attributes | |
| std::map< unsigned int, fmat::Column< 3 > > | positions |
| position data (may not cover all reference frames!) | |
| std::map< unsigned int, fmat::Quaternion > | orientations |
| orientation data (may not cover all reference frames!) | |
Member Typedef Documentation
| typedef std::map<unsigned int, fmat::Quaternion >::const_iterator MoCapEvent::orientation_iterator |
Definition at line 21 of file MoCapEvent.h.
| typedef std::map<unsigned int, fmat::Column<3> >::const_iterator MoCapEvent::position_iterator |
Definition at line 20 of file MoCapEvent.h.
Constructor & Destructor Documentation
| MoCapEvent::MoCapEvent | ( | const std::string & | srcName, | |
| size_t | sid = 0 | |||
| ) | [explicit] |
Member Function Documentation
| virtual EventBase* MoCapEvent::clone | ( | ) | const [virtual] |
| const fmat::Quaternion & MoCapEvent::getOrientation | ( | unsigned int | frameIdx | ) | const |
Attempts to look up an orientation reading for the specified reference frame, throws std::out_of_range if not found.
Definition at line 12 of file MoCapEvent.cc.
Referenced by getPose(), and MoCapLogger::gotMoCapGUI().
| const fmat::Transform MoCapEvent::getPose | ( | unsigned int | frameIdx | ) | const |
Constructs a transformation matrix for the specified reference frame, throws std::out_of_range if not found for either position or orientation.
The transformation matrix can be right-multiplied by a point relative to the frame to obtain the corresponding world-frame position. In a perfect simulation, this transform should be equivalent to getPose(BaseFrameOffset) * kine->getT(frameIdx) but in both simulation and the real world, gravity and obstacles may pull a joint away from its ideal target pose.
Definition at line 41 of file MoCapEvent.h.
| const fmat::Column< 3 > & MoCapEvent::getPosition | ( | unsigned int | frameIdx | ) | const |
Attempts to look up a position reading for the specified reference frame, throws std::out_of_range if not found.
Definition at line 5 of file MoCapEvent.cc.
Referenced by getPose(), and MoCapLogger::gotMoCapGUI().
Member Data Documentation
| std::map<unsigned int, fmat::Quaternion > MoCapEvent::orientations |
orientation data (may not cover all reference frames!)
Definition at line 46 of file MoCapEvent.h.
Referenced by MoCapLogger::dump(), and getOrientation().
| std::map<unsigned int, fmat::Column<3> > MoCapEvent::positions |
position data (may not cover all reference frames!)
Definition at line 45 of file MoCapEvent.h.
Referenced by MoCapLogger::dump(), and getPosition().
The documentation for this class was generated from the following files:
