The templated interface with already implemented methods for implementing new sensor classes. More...

#include <BasicSensor.h>

Inheritance diagram for MMM::BasicSensor< M,, >:

Public Member Functions
virtual bool	addSensorMeasurement (std::shared_ptr< M > measurement)

virtual bool	checkModel (ModelPtr model)=0

SensorPtr	clone ()

virtual std::shared_ptr< BasicSensor< M > >	cloneConfiguration ()=0

std::shared_ptr< BasicSensor< M > >	cloneDerived ()

virtual bool	equalsConfiguration (SensorPtr other)=0

void	extend (float minTimestep, float maxTimestep)

virtual std::shared_ptr< M >	getDerivedMeasurement (float timestep)

virtual std::shared_ptr< M >	getDerivedMeasurement (float timestep, float delta)

float	getMaxTimestep ()

SensorMeasurementPtr	getMeasurement (float timestep)

SensorMeasurementPtr	getMeasurement (float timestep, float delta)

std::map< float, SensorMeasurementPtr >	getMeasurements ()

float	getMinTimestep ()

SensorPtr	getSegmentSensor (float startTimestep, float endTimestep, bool changeTimestep=false)

std::vector< float >	getTimesteps ()

bool	hasMeasurement ()

bool	hasMeasurement (float timestep)

virtual void	shiftMeasurements (float delta)

Public Member Functions inherited from MMM::Sensor
void	appendSensorXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)

std::string	getDescription ()

std::string	getName ()

virtual int	getPriority ()

virtual std::vector< std::string >	getSensorSpecificInformation (const std::string &name)

virtual std::string	getType ()=0

std::string	getUniqueName ()

virtual std::string	getVersion ()=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	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.

Protected Member Functions
virtual void	appendDataXML (simox::xml::RapidXMLWrapperNodePtr node) override

	BasicSensor (const std::string &description=std::string(), const std::map< float, std::shared_ptr< M > > &measurements=std::map< float, std::shared_ptr< M > >())

SensorPtr	joinSensor (SensorPtr sensor)

virtual void	loadMeasurementNodeXML (simox::xml::RapidXMLWrapperNodePtr node) override

virtual void	loadMeasurementXML (simox::xml::RapidXMLWrapperNodePtr node, float timestep, SensorMeasurementType type)=0

Protected Member Functions inherited from MMM::Sensor
virtual void	appendConfigurationXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)=0

virtual void	appendTypeXML (simox::xml::RapidXMLWrapperNodePtr node)

virtual void	loadConfigurationXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)=0

virtual void	loadSensor (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)

	Sensor (const std::string &description="")

Protected Attributes
std::map< float, std::shared_ptr< M > >	measurements

Protected Attributes inherited from MMM::Sensor
std::string	description

std::string	name

std::string	uniqueName

Additional Inherited Members
Static Public Member Functions inherited from MMM::Sensor
static SensorPtr	join (SensorPtr sensor1, SensorPtr sensor2)

Static Public Attributes inherited from MMM::Sensor
static std::function< bool(std::filesystem::path &)>	handleSensorFilePath = NULL

Detailed Description

template<typename M, typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>
class MMM::BasicSensor< M,, >

The templated interface with already implemented methods for implementing new sensor classes.

Member Function Documentation

◆ checkModel()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

virtual bool MMM::BasicSensor< M,, >::checkModel ( ModelPtr model )

pure virtual

Checks, if the sensor data applicable for the given model

Implements MMM::Sensor.

Implemented in MMM::AttachedSensor< M >, MMM::AttachedSensor< Force1DSensorMeasurement >, MMM::AttachedSensor< Force3DSensorMeasurement >, MMM::AttachedSensor< IMUSensorMeasurement >, MMM::KinematicSensor, MMM::ModelPoseSensor, MMM::MoCapMarkerSensor, MMM::UnknownSensor, MMM::CustomSensor, MMM::EnvironmentalContactSensor, and MMM::WholeBodyDynamicSensor.

◆ clone()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

SensorPtr MMM::BasicSensor< M,, >::clone ( )

inlinevirtual

Creates a copy of this sensor.

Implements MMM::Sensor.

◆ equalsConfiguration()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

virtual bool MMM::BasicSensor< M,, >::equalsConfiguration ( SensorPtr other )

pure virtual

Checks if sensor type and configuration is equal

Implements MMM::Sensor.

Implemented in MMM::AttachedSensor< M >, MMM::AttachedSensor< Force1DSensorMeasurement >, MMM::AttachedSensor< Force3DSensorMeasurement >, MMM::AttachedSensor< IMUSensorMeasurement >, MMM::KinematicSensor, MMM::ModelPoseSensor, MMM::MoCapMarkerSensor, MMM::UnknownSensor, MMM::CustomSensor, MMM::EnvironmentalContactSensor, and MMM::WholeBodyDynamicSensor.

◆ extend()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

void MMM::BasicSensor< M,, >::extend	(	float	minTimestep,
		float	maxTimestep
	)

inlinevirtual

Extend sensor to given timesteps by readding copies first and last measurement

Implements MMM::Sensor.

◆ getMaxTimestep()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

float MMM::BasicSensor< M,, >::getMaxTimestep ( )

inlinevirtual

Returns the maximum timestep of all measurements of this sensor or -1 if no measurements exists.

Implements MMM::Sensor.

◆ getMeasurement() [1/2]

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

SensorMeasurementPtr MMM::BasicSensor< M,, >::getMeasurement ( float timestep )

inlinevirtual

If the sensor contains a sensor measurement at the certain given time, it is returned. Else if possible the sensor measurement is interpolated.

Returns: Sensor measurement or nullpointer.

Implements MMM::Sensor.

◆ getMeasurement() [2/2]

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

SensorMeasurementPtr MMM::BasicSensor< M,, >::getMeasurement	(	float	timestep,
		float	delta
	)

inlinevirtual

Returns the closest sensor measurement in a given delta around the given timestep.

Returns: Sensor measurement or nullpointer.

Implements MMM::Sensor.

◆ getMeasurements()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

std::map<float, SensorMeasurementPtr> MMM::BasicSensor< M,, >::getMeasurements ( )

inlinevirtual

Returns a map of sensor measurements according to their timesteps. This method runs in linear time.

Implements MMM::Sensor.

◆ getMinTimestep()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

float MMM::BasicSensor< M,, >::getMinTimestep ( )

inlinevirtual

Returns the minimum timestep of all measurements of this sensor or -1 if no measurements exists.

Implements MMM::Sensor.

◆ getSegmentSensor()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

SensorPtr MMM::BasicSensor< M,, >::getSegmentSensor	(	float	startTimestep,
		float	endTimestep,
		bool	changeTimestep = `false`
	)

inlinevirtual

Returns a section copy of this sensor.

Parameters

startTimestep	Start timestep of the section.
endTimestep	End timestep of the section.
changeTimestep	Section begin at 0.0 or the startTimestep.

Implements MMM::Sensor.

◆ getTimesteps()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

std::vector<float> MMM::BasicSensor< M,, >::getTimesteps ( )

inlinevirtual

Returns all timesteps on which the sensor contains real sensor measurements.

Implements MMM::Sensor.

◆ hasMeasurement() [1/2]

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

bool MMM::BasicSensor< M,, >::hasMeasurement ( )

inlinevirtual

Returns true, if the sensor contains a sensor measurement

Implements MMM::Sensor.

◆ hasMeasurement() [2/2]

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

bool MMM::BasicSensor< M,, >::hasMeasurement ( float timestep )

inlinevirtual

Returns true, if the sensor contains a real(!= interpolated) sensor measurement at the given time.

Implements MMM::Sensor.

◆ shiftMeasurements()

template<typename M , typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>

virtual void MMM::BasicSensor< M,, >::shiftMeasurements ( float delta )

inlinevirtual

Shifts the sensor measurements by a given delta value.

Implements MMM::Sensor.

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

/builds/sw/mmm/core/MMM/Motion/Sensor/BasicSensor.h

Master Motor Map

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename M, typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr> class MMM::BasicSensor< M,, >

Member Function Documentation

◆ checkModel()

◆ clone()

◆ equalsConfiguration()

◆ extend()

◆ getMaxTimestep()

◆ getMeasurement() [1/2]

◆ getMeasurement() [2/2]

◆ getMeasurements()

◆ getMinTimestep()

◆ getSegmentSensor()

◆ getTimesteps()

◆ hasMeasurement() [1/2]

◆ hasMeasurement() [2/2]

◆ shiftMeasurements()

template<typename M, typename std::enable_if< std::is_base_of< SensorMeasurement, M >::value >::type * = nullptr, typename std::enable_if< std::is_base_of< SMCloneable< M >, M >::value >::type * = nullptr>
class MMM::BasicSensor< M,, >