MMM::LegacyMotion Class Reference

A Motion defines a series of MotionFrame snapshots. More...

#include <LegacyMotion.h>

Inheritance diagram for MMM::LegacyMotion:

Public Types
enum	jointEnum { eValues, eVelocities, eAccelerations }
	Enumeration to specify set of joint parameters.

Public Member Functions
void	addComment (const std::string &comment)
bool	addMotionFrame (MotionFramePtr md)
void	calculateAccelerations (int method=0)
	Calculate Joint Accelerations from Joint Velocities.
void	calculateVelocities (int method=0)
	Calculate Joint Velocities from Joint Values.
LegacyMotionPtr	copy ()
std::string	getComment ()
	Returns comment strings combined to one std::string.
std::vector< std::string >	getJointNames ()
	Returns the joint names.
ModelPtr	getModel (bool processedModel=true)
const std::filesystem::path	getModelFilePath ()
ModelProcessorPtr	getModelProcessor ()
const std::filesystem::path &	getMotionFileName ()
	returns the motion file name and extension
const std::filesystem::path &	getMotionFilePath ()
MotionFramePtr	getMotionFrame (size_t frame)
std::vector< MotionFramePtr >	getMotionFrames ()
	Returns the vector with all MotionFrame objects.
std::string	getName ()
	Returns the name.
virtual unsigned int	getNumFrames ()
ProcessedModelWrapperPtr	getProcessedModelWrapper ()
LegacyMotionPtr	getSegmentMotion (size_t frame1, size_t frame2)
	get a segment motion from the original motion
LegacyMotionList	getSegmentMotions (std::vector< int > segmentPoints)
	get a segmented motion list according to segment points
std::vector< double >	getTimestamps ()
	get the time stamps of a motion
bool	hasJoint (const std::string &name)
	Validates if a given joint name is present.
void	joinMotion (LegacyMotionPtr next)
	join two motions
	LegacyMotion (const LegacyMotion &m)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LegacyMotion (const std::string &name)
void	outputData (const std::string &filename)
	generate data for representing motions
void	print ()
	Prints the XML string to std::cout.
void	print (const std::string &filename)
	Prints the XML string to file.
bool	removeMotionFrame (size_t frame)
void	setComment (const std::string &comment)
bool	setJointOrder (const std::vector< std::string > &jointNames)
void	setModel (ProcessedModelWrapperPtr model)
void	setModelProcessor (ModelProcessorPtr modelProcessor)
void	setMotionFileName (const std::filesystem::path &filename)
	stores the motion file name and extension
void	setMotionFilePath (const std::filesystem::path &filepath)
void	setMotionFrames (std::vector< MotionFramePtr > &mfs)
	Sets the vector with all MotionFrame objects;.
void	setName (const std::string &name)
void	setStartPose (const Eigen::Matrix4f &startPose)
	set the start pose of the mmm model in the motion
void	setStartPosition (const Eigen::Vector3f &startPosition)
	set the start position of the mmm model in the motion
void	setStartTime (double start, double step=0.01)
	set start time point
void	smoothJointValues (jointEnum type, int windowSize)
	Smooth out joint values, veloctities or accelerations (specifited by type) by applying a rolling mean filter of size windowSize.
virtual std::string	toXML ()
Public Member Functions inherited from MMM::AbstractMotion
virtual bool	addEntry (const std::string &name, MotionEntryPtr entry)
virtual MotionEntryPtr	getEntry (const std::string &name)
	Retrieve custom motion data entries. Name is internally converted to lowercase.
virtual bool	hasEntry (const std::string &name) const
	Check if entry with name (lowercase) is present.
virtual bool	removeEntry (const std::string &name)
	Remove custom entry.
bool	saveXML (const std::string &filename)
	Stores MMM content to file.

Protected Attributes
std::vector< std::string >	jointNames
ProcessedModelWrapperPtr	model
ModelProcessorPtr	modelProcessor
std::filesystem::path	motionFileName
std::filesystem::path	motionFilePath
std::vector< MotionFramePtr >	motionFrames
std::string	name
Protected Attributes inherited from MMM::AbstractMotion
std::map< std::string, MotionEntryPtr >	motionEntries
	Custom Entries are stored in this map.

Additional Inherited Members
Static Public Member Functions inherited from MMM::AbstractMotion
template<typename M , typename std::enable_if< std::is_base_of< AbstractMotion, M >::value >::type * = nullptr>
static bool	saveXML (const std::vector< std::shared_ptr< M >> &motions, const std::string &filename)
	Stores MMM content to file.
Static Protected Member Functions inherited from MMM::AbstractMotion
static bool	saveXML (const std::string &filename, const std::string &content)

Detailed Description

A Motion defines a series of MotionFrame snapshots.

The data covers position, velocity and acceleration of the models root position and orientation and a set of joint values, velocities and accelerations.

Member Function Documentation

addMotionFrame()

bool MMM::LegacyMotion::addMotionFrame

(

MotionFramePtr

md

)

Adds a snapshot to the motion data. The dimensions of the joint data is checked against the internal ndof value. The data is added without checking the timestep order.

Parameters

md	The data to add.

Returns

True on success.

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getModel()

ModelPtr MMM::LegacyMotion::getModel

(

bool

processedModel = true

)

Return the model.

Parameters

processedModel

Indicates weather the processed or the original model should be returned (If no modelProcessor is specified, the originalModel is always returned).

Returns

The model or ModelPtr() if no model is not specified.

getModelProcessor()

ModelProcessorPtr MMM::LegacyMotion::getModelProcessor

(

)

Return the ModelProcessor (if specified).

getMotionFrame()

MotionFramePtr MMM::LegacyMotion::getMotionFrame

(

size_t

frame

)

Returns the corresponding frame. If frame is out of bounds, an empty MotionFrame is returned.

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getNumFrames()

unsigned int MMM::LegacyMotion::getNumFrames ( )

virtual

Returns the number of entries.

Implements MMM::AbstractMotion.

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setComment()

void MMM::LegacyMotion::setComment

(

const std::string &

comment

)

Specifies a comment string. Overwrites current comment. Adds standard MotionEntry with name "comments".

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setJointOrder()

bool MMM::LegacyMotion::setJointOrder

(

const std::vector< std::string > &

jointNames

)

The joint names can be specified here. This implicitly sets the number of DoFs.

toXML()

std::string MMM::LegacyMotion::toXML ( )

virtual

Creates an XML string for this object.

Implements MMM::AbstractMotion.

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

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