MMM::BasicKinematicSensor Class Reference

Inheritance diagram for MMM::BasicKinematicSensor:

Public Member Functions
void	computeVelAccSavitzkyGolay (Eigen::MatrixXd &vel, Eigen::MatrixXd &acc, const std::vector< std::string > &jointNames, std::vector< float > &timesteps, unsigned int window=21, unsigned int order=2)
void	computeVelAccSavitzkyGolay (Eigen::MatrixXd &vel, Eigen::MatrixXd &acc, float startTimestep, float endTimestep, const std::vector< std::string > &jointNames, std::vector< float > &timesteps, unsigned int window=21, unsigned int order=2)
virtual std::map< std::string, float >	getJointAngleMap (float timestep)=0
virtual Eigen::VectorXf	getJointAngles (float timestep)=0
virtual int	getJointIndex (const std::string &jointName)=0
virtual std::vector< std::string >	getJointNames ()=0
virtual Eigen::VectorXf	getJointOffset ()=0
virtual std::map< float, float >	getJointValues (const std::string &jointName)=0
virtual bool	hasJoint (const std::string &jointName)=0
virtual bool	removeJoint (const std::string &name)=0
virtual void	setJointOffset (const std::string &jointName, float offset)=0
Public Member Functions inherited from MMM::Sensor
void	appendSensorXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
virtual bool	checkModel (ModelPtr model)=0
virtual SensorPtr	clone ()=0
virtual bool	equalsConfiguration (SensorPtr other)=0
virtual void	extend (float minTimestep, float maxTimestep)=0
std::string	getDescription ()
virtual float	getMaxTimestep ()=0
virtual SensorMeasurementPtr	getMeasurement (float timestep)=0
virtual SensorMeasurementPtr	getMeasurement (float timestep, float delta)=0
virtual std::map< float, SensorMeasurementPtr >	getMeasurements ()=0
virtual float	getMinTimestep ()=0
std::string	getName ()
virtual int	getPriority ()
virtual SensorPtr	getSegmentSensor (float startTimestep, float endTimestep, bool changeTimestep=false)=0
virtual std::vector< std::string >	getSensorSpecificInformation (const std::string &name)
virtual std::vector< float >	getTimesteps ()=0
virtual std::string	getType ()=0
std::string	getUniqueName ()
virtual std::string	getVersion ()=0
virtual bool	hasMeasurement ()=0
virtual bool	hasMeasurement (float timestep)=0
virtual bool	hasSensorConfigurationContent () const =0
virtual void	initializeModel (ModelPtr model, float timestep, bool extend=false, bool update=false)
virtual void	initializeModel (ModelPtr model, float timestep, float delta, bool extend=false, bool update=false)
virtual bool	isInterpolatable ()
virtual bool	isMirrorSupported (MotionType type)
virtual void	mirrorMotionData (const Eigen::Matrix4f &referencePose, int referenceAxis)
virtual void	scaleMotionData (float scaleFactor)
void	setDescription (const std::string &description)
void	setName (const std::string &name)
void	setUniqueName (const std::string &uniqueName)
virtual void	shiftMeasurements (float delta)=0
virtual void	shiftMotionData (const Eigen::Vector3f &positionDelta)
void	synchronizeSensorMeasurements (float timeFrequency)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation.
virtual void	synchronizeSensorMeasurements (float timeFrequency, float minTimestep, float maxTimestep)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation. Removes all measurements outside the given intervall.

Static Public Attributes
static constexpr const char *	TYPE = "Kinematic"
Static Public Attributes inherited from MMM::Sensor
static std::function< bool(std::filesystem::path &)>	handleSensorFilePath = NULL

Additional Inherited Members
Static Public Member Functions inherited from MMM::Sensor
static SensorPtr	join (SensorPtr sensor1, SensorPtr sensor2)
Protected Member Functions inherited from MMM::Sensor
virtual void	appendConfigurationXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)=0
virtual void	appendDataXML (simox::xml::RapidXMLWrapperNodePtr node)=0
virtual void	appendTypeXML (simox::xml::RapidXMLWrapperNodePtr node)
virtual SensorPtr	joinSensor (SensorPtr sensor)=0
virtual void	loadConfigurationXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)=0
virtual void	loadMeasurementNodeXML (simox::xml::RapidXMLWrapperNodePtr node)=0
virtual void	loadSensor (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
	Sensor (const std::string &description="")
Protected Attributes inherited from MMM::Sensor
std::string	description
std::string	name
std::string	uniqueName

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The documentation for this class was generated from the following file:

• /builds/sw/mmm/core/MMM/Motion/Sensor/BasicKinematicSensor.h