MMM::Converter Class Reference

An interface for all converter classes. A converter maps an input motion to an output motion. Two main applications are intended with converters. More...

#include <Converter.h>

Inheritance diagram for MMM::Converter:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Converter (const std::string &name)
virtual AbstractMotionPtr	convertMotion ()=0
virtual bool	convertMotionStep (AbstractMotionPtr currentOutput, bool increment=true)=0
std::map< std::string, float >	getInitialJointFitting ()
Eigen::Matrix4f	getInitialModelFitting ()
virtual std::vector< std::string >	getJointOrder () const
float	getSourceModelSize ()
float	getTargetModelSize ()
virtual AbstractMotionPtr	initializeStepwiseConversion ()=0
void	setSourceModelSize (float size)
void	setTargetModelSize (float size)
virtual bool	setup (ModelPtr inputModel, AbstractMotionPtr inputMotion, ModelPtr outputModel)
virtual bool	setupFile (const std::string &configFilename)
virtual void	setupJointOrder (const std::vector< std::string > &jo)
	Pass the joint order to this converter.
virtual bool	setupXML (const std::string &xmlString)

Protected Member Functions
virtual bool	_setup (rapidxml::xml_node< char > *rootTag)=0
	first tag in xml configuration

Protected Attributes
std::map< std::string, float >	initialJointValues
Eigen::Matrix4f	initialModelPose
ModelPtr	inputModel
AbstractMotionPtr	inputMotion
std::vector< std::string >	jointOrder
float	mSourceModelSize
float	mTargetModelSize
std::string	name
ModelPtr	outputModel

Detailed Description

An interface for all converter classes. A converter maps an input motion to an output motion. Two main applications are intended with converters.

• Converters from (e.g. Vicon) Motion Data to an MMM model
• Converters from MMM to a robot model

See also

ConverterFactory

Member Function Documentation

convertMotion()

virtual AbstractMotionPtr MMM::Converter::convertMotion ( )

pure virtual

Convert complete motion

convertMotionStep()

virtual bool MMM::Converter::convertMotionStep ( AbstractMotionPtr  currentOutput, bool  increment = true  )

pure virtual

Pass a partially converted motion in order to compute the next frame.

getInitialJointFitting()

std::map< std::string, float > MMM::Converter::getInitialJointFitting

(

)

Returns the initial joint value fitting of the converter which is used to start the convertion process.

getInitialModelFitting()

Eigen::Matrix4f MMM::Converter::getInitialModelFitting

(

)

Returns the initial model fitting of the converter which is used to start the convertion process.

initializeStepwiseConversion()

virtual AbstractMotionPtr MMM::Converter::initializeStepwiseConversion ( )

pure virtual

Some converters may offer a stepwise conversion. This method initializes the output for stepwise conversion

setup()

bool MMM::Converter::setup ( ModelPtr  inputModel, AbstractMotionPtr  inputMotion, ModelPtr  outputModel  )

virtual

Basic setup of a converter

Parameters

inputModel	Specifies to which model the inputMotion is linked. In case MarkerMotions are used as input (e.g. Vicon->MMM) the input model can be empty.
inputMotion	The motion to convert.
outputModel	Setup the target model.

Returns

true on success.

Reimplemented in MMM::MarkerBasedConverter.

Here is the caller graph for this function:

setupFile()

bool MMM::Converter::setupFile ( const std::string &  configFilename )

virtual

Setup the converter via a config XML filename. Custom parameters are parsed in the _setup method, which each converter has to implement.

---

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

• /builds/sw/mmm/core/MMM/Motion/Legacy/Converter/Converter.h
• /builds/sw/mmm/core/MMM/Motion/Legacy/Converter/Converter.cpp