MotionSequenceEngine Class Reference#include <MotionSequenceEngine.h>
Inheritance diagram for MotionSequenceEngine:
[legend]List of all members.
Detailed Description
A handy little (or not so little) class for switching between a sequence of postures.
Outputs are handled independently. It's easy to add keyframes which modify all of the outputs, but since each output is tracked individually, OutputCmd's with 0 weight can be used to not affect other motions. For instance, pan the head left to right while moving the right leg up and down several times, you won't have to specify the position of the head in its motion at each of the leg motion keyframes.
Be aware that the 0 time frame will be replaced on a call to play() with the current body posture. However, this only applies to outputs which have a non-zero weighted frame defined at some point. The weights, of the 0 time frame will remain unchanged. These weights are initially set to 0, so that it's possible to 'fade in' the first frame of the motion sequence from whereever the body happens to be (or already doing)
To fade out at the end, set a frame with 0 weight for everything. Otherwise it will simply die suddenly. When a joint reaches its last keyframe, it will be set to 0 weight for all future updateOutputs() (unless of course the playhead is reset)
Currently, MotionSequenceEngine is intended mainly for building, not editing. It's easy to add keyframes, but hard/impossible to delete them.
The MotionSequenceEngine base class is an abstract class so that you can create memory efficient motion sequences and simply refer to them by the common base class instead of having to worry about the actual size allocated in the template, MotionSequenceMC.
- See also:
- MotionSequenceEngine::SizeSmall, MotionSequenceEngine::SizeMedium, MotionSequenceEngine::SizeLarge, MotionSequenceEngine::SizeXLarge,
The file format used is as follows: ('<' and '>' are not meant literally)
- First line: '
#MSq ' - Followed by any series of:
- '
advanceTime time-delta' - moves playhead forward, in milliseconds (synonym for delay ) - '
delay time-delta' - moves playhead forward, in milliseconds (synonym for advanceTime ) - '
setTime time' - sets play time to specified value, in ms - 'outputname
value [weight]' - sets the specified output to the value - assumes 1 for weight; you can view the list of valid joint names in the outputNames array within the RobotInfo extension namespace for your model. (e.g. ERS210Info::outputNames[]) - '
load filename' - file is a posture, sets position - '
overlay filename' - file can be a posture or another motion sequence - '
degrees ' - following values will be interpreted as degrees [default] - '
radians ' - following values will be interpreted as radians - '
# comment' - a comment line
- Last line: '
#END '
Lines beginning with '#' are ignored as comments. Be aware if you load the file and then save it again, these comments will be lost.
After loading a motion sequence, the playtime is left at the end. This is to make it easy to append/overlay motion sequences. However, the playhead will be reset to the beginning on the first call to updateOutputs() if isPlaying() returns true.
You can also create a motion sequence dynamically at run time:
By default, playing is true. Thus, when you add a MotionSequenceMC to the MotionManager, it will begin executing automatically. If you do not want this behavior, simply call pause() before adding the sequence.
When the sequence reaches the end, isAlive() will return false. If the motion was added with MotionManager::addPrunableMotion, the motion sequence will then autoprune itself from the MotionManager. However, you can either call MotionManager::addPersistentMotion() to add it, or call setAutoPrune(false), if you want to retain the same instantiation between executions.
- See also:
- PostureEngine for information on the posture files
Definition at line 102 of file MotionSequenceEngine.h.
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Public Member Functions |
| MotionSequenceEngine () |
| constructor, will start playing immediately
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virtual | ~MotionSequenceEngine () |
| destructor
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virtual int | updateOutputs () |
| similar to the MotionCommand::updateOutputs, although this isn't a motion command, and doesn't make any calls on MotionManager - merely updates lasttime, expects subclasses to do the work of sending new commands to the system
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virtual unsigned int | getBinSize () const |
| inherited, returns the size used to save the sequence
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virtual unsigned int | LoadBuffer (const char buf[], unsigned int len) |
| inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load.
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virtual unsigned int | SaveBuffer (char buf[], unsigned int len) const |
| inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded
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virtual unsigned int | LoadFile (const char filename[]) |
| inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load.
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virtual unsigned int | SaveFile (const char filename[]) const |
| inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded
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void | setSaveDegrees () |
| will store angles as degrees on future saves
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bool | isSaveDegrees () const |
| returns true if will store angles as degrees on future saves
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void | setSaveRadians () |
| will store angles as radians on future saves
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bool | isSaveRadians () const |
| returns true if will store angles as degrees on future saves
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virtual void | clear ()=0 |
| empties out the sequence (constant time operation - faster than a series of pops)
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void | setTime (unsigned int x) |
| set the time for both playback and editing (in milliseconds)
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unsigned int | advanceTime (unsigned int x) |
| advance the play/edit index by x milliseconds, and then returns the new getTime()
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void | setOutputCmd (unsigned int i, const OutputCmd &cmd) |
| will insert a keyframe for the given output, or change an existing one
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const OutputCmd & | getOutputCmd (unsigned int i) |
| gets the value of output i at the playhead
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void | setPose (const PostureEngine &pose) |
| calls setOutputCmd on each of the OutputCmds in pose
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PostureEngine | getPose () |
| returns the set of OutputCmd's at the current playhead as a PostureEngine
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void | getPose (PostureEngine &pose) |
| stores the set of OutputCmd's at the current playhead into the specified PostureEngine
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void | overlayPose (const PostureEngine &pose) |
| calls setOutputCmd on non-zero weighted OutputCmds in pose
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void | compress () |
| compresses the sequence by eliminating sequences of moves which are identical
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virtual unsigned int | getMaxFrames () const =0 |
| returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter
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virtual unsigned int | getUsedFrames () const =0 |
| returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequenceEngine subclass
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void | makeSafe (const float vels[NumOutputs], float margin) |
| will insert time into the motion where needed to keep the joint velocities at or below the speeds given in vels * margin
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bool | isPlaying () |
void | play () |
| returns true if currently playing restarts playback from beginning
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void | pause () |
| pauses playback until another call to play() or resume()
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void | resume () |
| begins playback from the current playtime
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unsigned int | getTime () const |
| returns the current position of the playback (in milliseconds), see setTime()
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unsigned int | getEndTime () const |
| returns the length of the motion sequence (in milliseconds)
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void | setSpeed (float x) |
| sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=backwards)
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float | getSpeed () const |
| returns the playback speed
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virtual void | setHold (bool h=true) |
| Sets hold - if this is set to false, it will allow a persistent motion to behave the same as a pruned motion, without being pruned.
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virtual bool | getHold () |
| return hold
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Protected Types |
typedef unsigned short | Move_idx_t |
| type for indexes to move structures in subclass's storage
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Protected Member Functions |
virtual Move & | getKeyFrame (Move_idx_t x)=0 |
| returns the Move struct corresponding to x in the subclass's actual data structure
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virtual const Move & | getKeyFrame (Move_idx_t x) const =0 |
| returns the Move struct corresponding to x in the subclass's actual data structure
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virtual Move_idx_t | newKeyFrame ()=0 |
| causes subclass to create a new Move structure, returns its index
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virtual void | eraseKeyFrame (Move_idx_t x)=0 |
| causes subclass to mark the corresponding Move structure as free
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void | calcOutput (OutputCmd &ans, unsigned int t, const Move &prev, const Move &next) const |
| Does the actual calculation of position information. Perhaps replace with a Bezier or spline or something?
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virtual void | setRange (unsigned int t, Move_idx_t &prev, Move_idx_t &next) const =0 |
| Sets prev and next to the appropriate values for the given time and output index.
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unsigned int | setNextFrameTime (Move_idx_t p[NumOutputs], Move_idx_t n[NumOutputs]) const |
| sets playtime to next time for which any output has a keyframe, -1 if none exists
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Static Protected Member Functions |
static unsigned int | readWord (const char buf[], const char *const buflen, char word[], const unsigned int wordlen) |
| reads a line from a file, parsing it into variables, returns ending position
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static unsigned int | getOutputIndex (const char name[], unsigned int i) |
| returns the index for the output named in the string or NumOutputs if not found, begins search through RobotInfo::outputName's at index i
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Protected Attributes |
Move_idx_t | starts [NumOutputs] |
| the beginning frame for each output animation
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Move_idx_t | prevs [NumOutputs] |
| the previous frame (the starttime for this frame will always be less than or equal to playtime)
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Move_idx_t | nexts [NumOutputs] |
| the upcoming frame (the starttime for this frame will always be greater than playtime)
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OutputCmd | curs [NumOutputs] |
| merely a cache of current values (if computed, see curstamps)
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unsigned int | curstamps [NumOutputs] |
| timestamp of corresponding value in curs
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unsigned int | playtime |
| the current time of playback, 0 is start of sequence
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unsigned int | lasttime |
| the time of the last update
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unsigned int | endtime |
| max of moves's Move::starttime's
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float | playspeed |
| multiplies the difference between current time and starttime, negative will cause play backwards
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bool | playing |
| true if playing, false if paused
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bool | hold |
| if set to true, the posture will be kept active; otherwise joints will be marked unused after each posture is achieved (as if the posture was pruned); set through setHold()
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float | loadSaveMode |
| 1 to use radians, M_PI/180 for degrees during a save
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Static Protected Attributes |
static Move_idx_t | invalid_move = -1U |
| used to mark the ends of the Move linked lists
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Classes |
struct | Move |
| This struct holds all the information needed about a frame for a particular output. More...
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Member Typedef Documentation
Constructor & Destructor Documentation
MotionSequenceEngine::MotionSequenceEngine |
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virtual MotionSequenceEngine::~MotionSequenceEngine |
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[inline, virtual] |
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Member Function Documentation
unsigned int MotionSequenceEngine::advanceTime |
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unsigned int |
x |
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[inline] |
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void MotionSequenceEngine::calcOutput |
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OutputCmd & |
ans, |
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unsigned int |
t, |
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const Move & |
prev, |
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const Move & |
next |
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const [inline, protected] |
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virtual void MotionSequenceEngine::clear |
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[pure virtual] |
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void MotionSequenceEngine::compress |
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compresses the sequence by eliminating sequences of moves which are identical
Definition at line 343 of file MotionSequenceEngine.cc. |
virtual void MotionSequenceEngine::eraseKeyFrame |
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Move_idx_t |
x |
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[protected, pure virtual] |
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causes subclass to mark the corresponding Move structure as free
Referenced by compress(). |
unsigned int MotionSequenceEngine::getBinSize |
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const [virtual] |
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unsigned int MotionSequenceEngine::getEndTime |
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const [inline] |
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virtual bool MotionSequenceEngine::getHold |
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[inline, virtual] |
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virtual const Move& MotionSequenceEngine::getKeyFrame |
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Move_idx_t |
x |
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const [protected, pure virtual] |
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returns the Move struct corresponding to x in the subclass's actual data structure
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virtual Move& MotionSequenceEngine::getKeyFrame |
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Move_idx_t |
x |
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[protected, pure virtual] |
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virtual unsigned int MotionSequenceEngine::getMaxFrames |
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const [pure virtual] |
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const OutputCmd & MotionSequenceEngine::getOutputCmd |
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unsigned int |
i |
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unsigned int MotionSequenceEngine::getOutputIndex |
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const char |
name[], |
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unsigned int |
i |
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[static, protected] |
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returns the index for the output named in the string or NumOutputs if not found, begins search through RobotInfo::outputName's at index i
Definition at line 453 of file MotionSequenceEngine.cc.
Referenced by LoadBuffer(). |
float MotionSequenceEngine::getSpeed |
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const [inline] |
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unsigned int MotionSequenceEngine::getTime |
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const [inline] |
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virtual unsigned int MotionSequenceEngine::getUsedFrames |
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const [pure virtual] |
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bool MotionSequenceEngine::isPlaying |
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bool MotionSequenceEngine::isSaveDegrees |
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const [inline] |
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bool MotionSequenceEngine::isSaveRadians |
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const [inline] |
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unsigned int MotionSequenceEngine::LoadBuffer |
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const char |
buf[], |
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unsigned int |
len |
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[virtual] |
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inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load.
Implements LoadSave.
Definition at line 86 of file MotionSequenceEngine.cc. |
unsigned int MotionSequenceEngine::LoadFile |
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const char |
filename[] |
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[virtual] |
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void MotionSequenceEngine::makeSafe |
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const float |
vels[NumOutputs], |
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float |
margin |
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will insert time into the motion where needed to keep the joint velocities at or below the speeds given in vels * margin
Definition at line 370 of file MotionSequenceEngine.cc. |
virtual Move_idx_t MotionSequenceEngine::newKeyFrame |
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[protected, pure virtual] |
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void MotionSequenceEngine::overlayPose |
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const PostureEngine & |
pose |
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void MotionSequenceEngine::pause |
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[inline] |
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void MotionSequenceEngine::play |
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unsigned int MotionSequenceEngine::readWord |
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const char |
buf[], |
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const char *const |
buflen, |
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char |
word[], |
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const unsigned int |
wordlen |
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[static, protected] |
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void MotionSequenceEngine::resume |
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unsigned int MotionSequenceEngine::SaveBuffer |
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char |
buf[], |
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unsigned int |
len |
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const [virtual] |
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inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded
Implements LoadSave.
Definition at line 216 of file MotionSequenceEngine.cc. |
unsigned int MotionSequenceEngine::SaveFile |
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const char |
filename[] |
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const [virtual] |
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inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded
Definition at line 285 of file MotionSequenceEngine.cc. |
virtual void MotionSequenceEngine::setHold |
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bool |
h = true |
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[inline, virtual] |
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Sets hold - if this is set to false, it will allow a persistent motion to behave the same as a pruned motion, without being pruned.
Definition at line 150 of file MotionSequenceEngine.h. |
unsigned int MotionSequenceEngine::setNextFrameTime |
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Move_idx_t |
p[NumOutputs], |
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Move_idx_t |
n[NumOutputs] |
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const [protected] |
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void MotionSequenceEngine::setOutputCmd |
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unsigned int |
i, |
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const OutputCmd & |
cmd |
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void MotionSequenceEngine::setPose |
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const PostureEngine & |
pose |
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virtual void MotionSequenceEngine::setRange |
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unsigned int |
t, |
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Move_idx_t & |
prev, |
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Move_idx_t & |
next |
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const [protected, pure virtual] |
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void MotionSequenceEngine::setSaveDegrees |
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[inline] |
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void MotionSequenceEngine::setSaveRadians |
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[inline] |
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void MotionSequenceEngine::setSpeed |
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float |
x |
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[inline] |
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sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=backwards)
Definition at line 147 of file MotionSequenceEngine.h. |
void MotionSequenceEngine::setTime |
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unsigned int |
x |
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int MotionSequenceEngine::updateOutputs |
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[virtual] |
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Member Data Documentation
The documentation for this class was generated from the following files:
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