MMM::ModelPoseSensor Class Reference

Inheritance diagram for MMM::ModelPoseSensor:

Public Member Functions
bool	checkModel (ModelPtr model) override
std::shared_ptr< BasicSensor< ModelPoseSensorMeasurement > >	cloneConfiguration () override
bool	equalsConfiguration (SensorPtr other) override
std::map< float, float >	getAngles (unsigned int index) override
virtual Eigen::Matrix4f	getOffset (float timestep, float delta) override
std::map< float, float >	getPositions (unsigned int index) override
int	getPriority () override
Eigen::Matrix4f	getRootPose (float timestep, bool extend=false) override
std::map< float, Eigen::Matrix4f >	getRootPoses () override
Eigen::Matrix4f	getRootPoseWithoutOffset (float timestep, float delta) override
std::string	getType () override
std::string	getVersion () override
void	mirrorMotionData (const Eigen::Matrix4f &referencePose, int referenceAxis) override
	ModelPoseSensor (const std::string &description=std::string())
void	scaleMotionData (float scaleFactor) override
virtual void	setFixedRootPose (const Eigen::MatrixXf &rootPose, bool reduceMeasurements=true) override
	setFixPose Sets all measurements to a fixed pose More...
virtual void	setOffset (const Eigen::Matrix4f &offset, bool local=true) override
void	shiftMotionData (const Eigen::Vector3f &positionDelta) override
virtual void	transform (const Eigen::Matrix4f &offsetTransformation) override
Public Member Functions inherited from MMM::InterpolatableSensor< ModelPoseSensorMeasurement >
std::shared_ptr< ModelPoseSensorMeasurement >	getDerivedMeasurement (float timestep)
bool	isInterpolatable ()
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.
Public Member Functions inherited from MMM::BasicSensor< ModelPoseSensorMeasurement >
virtual bool	addSensorMeasurement (std::shared_ptr< ModelPoseSensorMeasurement > measurement)
SensorPtr	clone ()
std::shared_ptr< BasicSensor< ModelPoseSensorMeasurement > >	cloneDerived ()
void	extend (float minTimestep, float maxTimestep)
virtual std::shared_ptr< ModelPoseSensorMeasurement >	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 std::vector< std::string >	getSensorSpecificInformation (const std::string &name)
std::string	getUniqueName ()
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	isMirrorSupported (MotionType type)
void	setDescription (const std::string &description)
void	setName (const std::string &name)
void	setUniqueName (const std::string &uniqueName)
void	synchronizeSensorMeasurements (float timeFrequency)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation.

Static Public Member Functions
static ModelPoseSensorPtr	createFromLegacy (LegacyMotionPtr motion)
static ModelPoseSensorPtr	loadSensorXML (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
Static Public Member Functions inherited from MMM::Sensor
static SensorPtr	join (SensorPtr sensor1, SensorPtr sensor2)

Static Public Attributes
static constexpr const char *	TYPE = BasicModelPoseSensor::TYPE
static constexpr const char *	VERSION = "1.0"
Static Public Attributes inherited from MMM::Sensor
static std::function< bool(std::filesystem::path &)>	handleSensorFilePath = NULL
Static Public Attributes inherited from MMM::BasicModelPoseSensor
static constexpr const char *	TYPE = "ModelPose"

Additional Inherited Members
Protected Member Functions inherited from MMM::InterpolatableSensor< ModelPoseSensorMeasurement >
	InterpolatableSensor (const std::string &description=std::string(), const std::map< float, std::shared_ptr< ModelPoseSensorMeasurement > > &measurements=std::map< float, std::shared_ptr< ModelPoseSensorMeasurement > >())
Protected Member Functions inherited from MMM::BasicSensor< ModelPoseSensorMeasurement >
virtual void	appendDataXML (simox::xml::RapidXMLWrapperNodePtr node) override
	BasicSensor (const std::string &description=std::string(), const std::map< float, std::shared_ptr< ModelPoseSensorMeasurement > > &measurements=std::map< float, std::shared_ptr< ModelPoseSensorMeasurement > >())
SensorPtr	joinSensor (SensorPtr sensor)
virtual void	loadMeasurementNodeXML (simox::xml::RapidXMLWrapperNodePtr node) override
Protected Member Functions inherited from MMM::Sensor
virtual void	appendTypeXML (simox::xml::RapidXMLWrapperNodePtr node)
virtual void	loadSensor (simox::xml::RapidXMLWrapperNodePtr node, const std::filesystem::path &filePath)
	Sensor (const std::string &description="")
Protected Attributes inherited from MMM::BasicSensor< ModelPoseSensorMeasurement >
std::map< float, std::shared_ptr< ModelPoseSensorMeasurement > >	measurements
Protected Attributes inherited from MMM::Sensor
std::string	description
std::string	name
std::string	uniqueName

Member Function Documentation

checkModel()

bool MMM::ModelPoseSensor::checkModel ( ModelPtr  model )

overridevirtual

Checks, if the sensor data applicable for the given model

Implements MMM::Sensor.

equalsConfiguration()

bool MMM::ModelPoseSensor::equalsConfiguration ( SensorPtr  other )

overridevirtual

Checks if sensor type and configuration is equal

Implements MMM::Sensor.

getPriority()

int MMM::ModelPoseSensor::getPriority ( )

overridevirtual

Returns the priority of this sensor. The higher the value the sooner this sensor is in the xml representation of a motion.

Reimplemented from MMM::Sensor.

getType()

std::string MMM::ModelPoseSensor::getType ( )

overridevirtual

Returns the sensor type.

Implements MMM::Sensor.

getVersion()

std::string MMM::ModelPoseSensor::getVersion ( )

overridevirtual

Returns the sensor's version.

Implements MMM::Sensor.

setFixedRootPose()

void MMM::ModelPoseSensor::setFixedRootPose ( const Eigen::MatrixXf &  rootPose, bool  reduceMeasurements = true  )

overridevirtual

setFixPose Sets all measurements to a fixed pose

Parameters

rootPose	The new fixed pose
reduceMeasurements	Reduces the measurements to minimum and maximum timestep

Implements MMM::BasicModelPoseSensor.

---

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

• /builds/sw/mmm/core/MMM/Motion/Plugin/ModelPosePlugin/ModelPoseSensor.h
• /builds/sw/mmm/core/MMM/Motion/Plugin/ModelPosePlugin/ModelPoseSensor.cpp