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#include <PostureEngine.h>
Inheritance diagram for PostureEngine:
Handy for any class which wants to deal with setting joints and postures without writing a custom class
Definition at line 12 of file PostureEngine.h.
Public Member Functions | |
PostureEngine () | |
constructor | |
PostureEngine (const char *filename) | |
constructor, loads a position from a file - not necessarily quick! | |
virtual | ~PostureEngine () |
destructor | |
virtual void | takeSnapshot () |
sets the internal cmds to the current state of the outputs | |
virtual void | clear () |
sets all joints to unused | |
virtual PostureEngine & | setOverlay (const PostureEngine &pe) |
sets joints of this to all joints of pe which are not equal to unused (layers pe over this) stores into this | |
virtual PostureEngine | createOverlay (const PostureEngine &pe) const |
sets joints of this to all joints of pe which are not equal to unused (layers pe over this) returns new PostureEngine | |
virtual PostureEngine & | setUnderlay (const PostureEngine &pe) |
sets joints of this which are equal to unused to pe, (layers this over pe) stores into this | |
virtual PostureEngine | createUnderlay (const PostureEngine &pe) const |
sets joints of this which are equal to unused to pe, (layers this over pe) returns new PostureEngine | |
virtual PostureEngine & | setAverage (const PostureEngine &pe, float w=0.5) |
computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe) | |
virtual PostureEngine | createAverage (const PostureEngine &pe, float w=0.5) const |
computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe) | |
virtual PostureEngine & | setCombine (const PostureEngine &pe) |
computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value | |
virtual PostureEngine | createCombine (const PostureEngine &pe) const |
computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value | |
float | diff (const PostureEngine &pe) const |
returns the sum squared error between this and pe's output values, but only between outputs which are both not unused | |
float | avgdiff (const PostureEngine &pe) const |
returns the average sum squared error between this and pe's output values for outputs which are both not unused | |
float | maxdiff (const PostureEngine &pe) const |
returns the max sum squared error between this and pe's output values for outputs which are both not unused | |
Output Accessors | |
NOT VIRTUAL! You should be able to call this to set outputs without checking out, just a peekMotion(). Theoretically. | |
PostureEngine & | setOutputCmd (unsigned int i, const OutputCmd &c) |
sets output i to OutputCmd c, returns *this so you can chain them | |
OutputCmd & | getOutputCmd (unsigned int i) |
returns output i, returns a reference so you can also set "through" this call. | |
const OutputCmd & | getOutputCmd (unsigned int i) const |
returns output i | |
LoadSave | |
virtual unsigned int | getBinSize () const |
calculates space needed to save - if you can't precisely add up the size, overestimate and things will still work. | |
virtual unsigned int | LoadBuffer (const char buf[], unsigned int len) |
Load from a saved buffer. | |
virtual unsigned int | SaveBuffer (char buf[], unsigned int len) const |
Save to a given buffer. | |
Static Protected Member Functions | |
bool | ChkAdvance (int res, const char **buf, unsigned int *len, const char *msg) |
used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg if is zero | |
bool | ChkAdvance (int res, const char **buf, unsigned int *len, const char *msg, int arg1) |
used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg with arg1 if is zero | |
Protected Attributes | |
OutputCmd | cmds [NumOutputs] |
the table of outputs' values and weights, can be accessed through setOutputCmd() and getOutputCmd() |
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constructor
Definition at line 15 of file PostureEngine.h. |
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constructor, loads a position from a file - not necessarily quick!
Definition at line 18 of file PostureEngine.h. |
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destructor
Definition at line 5 of file PostureEngine.cc. |
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returns the average sum squared error between this and pe's output values for outputs which are both not unused
Definition at line 95 of file PostureEngine.cc. |
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used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg with arg1 if is zero
Definition at line 216 of file PostureEngine.cc. |
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used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg if is zero
Definition at line 205 of file PostureEngine.cc. Referenced by LoadBuffer(), and SaveBuffer(). |
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sets all joints to unused
Reimplemented in PostureMC. Definition at line 12 of file PostureEngine.cc. Referenced by PostureMC::clear(), and LoadBuffer(). |
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computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)
joints being averaged with weight<=0 have their weights averaged, but not their values (so an output can crossfade properly)
Definition at line 69 of file PostureEngine.cc. |
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computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value
Definition at line 80 of file PostureEngine.cc. |
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sets joints of this to all joints of pe which are not equal to unused (layers pe over this) returns new PostureEngine
Definition at line 23 of file PostureEngine.cc. |
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sets joints of this which are equal to unused to pe, (layers this over pe) returns new PostureEngine
Definition at line 33 of file PostureEngine.cc. |
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returns the sum squared error between this and pe's output values, but only between outputs which are both not unused
Definition at line 85 of file PostureEngine.cc. |
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calculates space needed to save - if you can't precisely add up the size, overestimate and things will still work.
Implements LoadSave. Definition at line 119 of file PostureEngine.cc. |
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returns output i
Definition at line 64 of file PostureEngine.h. |
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returns output i, returns a reference so you can also set "through" this call.
Definition at line 63 of file PostureEngine.h. Referenced by MotionSequence::overlayPose(), and MotionSequence::setPose(). |
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Load from a saved buffer.
Implements LoadSave. Reimplemented in PostureMC. Definition at line 128 of file PostureEngine.cc. Referenced by PostureMC::LoadBuffer(). |
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returns the max sum squared error between this and pe's output values for outputs which are both not unused
Definition at line 107 of file PostureEngine.cc. Referenced by PostureMC::isAlive(). |
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Save to a given buffer.
Implements LoadSave. Definition at line 179 of file PostureEngine.cc. |
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computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)
joints being averaged with unused joints have their weights averaged, but not their values (so an output can crossfade properly)
Reimplemented in PostureMC. Definition at line 45 of file PostureEngine.cc. Referenced by createAverage(), and PostureMC::setAverage(). |
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computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value
Reimplemented in PostureMC. Definition at line 73 of file PostureEngine.cc. Referenced by createCombine(), and PostureMC::setCombine(). |
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sets output i to OutputCmd c, returns
Reimplemented in PostureMC. Definition at line 62 of file PostureEngine.h. Referenced by PostureMC::setOutputCmd(). |
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sets joints of this to all joints of pe which are not equal to unused (layers pe over this) stores into this
Reimplemented in PostureMC. Definition at line 17 of file PostureEngine.cc. Referenced by createOverlay(), and PostureMC::setOverlay(). |
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sets joints of this which are equal to unused to pe, (layers this over pe) stores into this
Reimplemented in PostureMC. Definition at line 27 of file PostureEngine.cc. Referenced by createUnderlay(), and PostureMC::setUnderlay(). |
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sets the internal cmds to the current state of the outputs
Reimplemented in EmergencyStopMC, and PostureMC. Definition at line 7 of file PostureEngine.cc. Referenced by PostureMC::isAlive(), SavePostureControl::takeInput(), and PostureMC::takeSnapshot(). |
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the table of outputs' values and weights, can be accessed through setOutputCmd() and getOutputCmd()
Definition at line 81 of file PostureEngine.h. Referenced by avgdiff(), clear(), diff(), EmergencyStopMC::freezeJoints(), getBinSize(), getOutputCmd(), LoadBuffer(), maxdiff(), EmergencyStopMC::releaseJoints(), SaveBuffer(), setAverage(), setCombine(), setOutputCmd(), setOverlay(), setUnderlay(), takeSnapshot(), EmergencyStopMC::takeSnapshot(), PostureMC::updateOutputs(), and EmergencyStopMC::updateOutputs(). |
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