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MoCapEvent Class Reference
Provides notification of new external localization data. More...
Inheritance diagram for MoCapEvent:
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.
Member Typedef Documentation
Constructor & Destructor Documentation
Member Function Documentation
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
Member Data Documentation
The documentation for this class was generated from the following files:
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