Stores a recorded motion with a corresponding virtual model and real measurements. More...

#include <Motion.h>

Inheritance diagram for MMM::Motion:

Public Member Functions
virtual void	addSensor (SensorPtr sensor, float delta=0.0f, bool checkModel=true)

void	appendMotion (simox::xml::RapidXMLWrapperNodePtr root, const std::filesystem::path &path=std::string())

void	attach (MotionObserver *obs)

MotionPtr	clone (bool cloneSensors=true, const std::string &newName=std::string()) const

simox::xml::RapidXMLWrapperNodePtr	createMotionRoot ()

void	detach (MotionObserver *obs)

bool	eraseSensorIfEqual (Sensor &sensor)

int	eraseSensors (const std::string &type)

void	extendKinematic ()
	Extend kinematic and model pose sensors containing only a single measurement.

std::vector< std::string >	getActuatedJointNames ()

std::map< std::string, std::vector< std::string > >	getActuatedJointNamesBySensorName ()

std::map< std::string, SensorMeasurementPtr >	getAllMeasurementsForTimeStep (float timestep) const
	Returns a map of the motion's sensor names pointing to their sensor measurement at the given timestep (if present).

float	getCommonMaxTimestep (const std::set< std::string > &ignoreSensorNames=std::set< std::string >()) const
	Returns the common maximum timestep of all sensors' measurements. If no timesteps are found, returns 0.0f.

float	getCommonMinTimestep (const std::set< std::string > &ignoreSensorNames=std::set< std::string >()) const
	Returns the common minimum timestep of all sensors' measurements. If no timesteps are found, returns 0.0f.

std::map< std::string, float >	getJointAngleMap (float timestep)

Eigen::VectorXf	getJointAngles (float timestep)

std::map< std::string, Eigen::VectorXf >	getJointAnglesBySensorName (float timestep)

float	getMaxTimestep () const
	Returns the maximum timestep of all sensors' measurements. If no timesteps are found, returns 0.0f.

float	getMinTimestep () const
	Returns the minimum timestep of all sensors' measurements. If no timesteps are found, returns 0.0f.

ModelPtr	getModel (bool processed=true) const

ModelPtr	getModelCloneWithVisualization (bool processed=true) const

ModelPtr	getModelCloneWithVisualizationThrow (bool processed=true) const

std::string	getModelFileName () const

std::filesystem::path	getModelFilePath () const

std::string	getModelName () const

ModelProcessorPtr	getModelProcessor () const

ModelPtr	getModelThrow (bool processed=true) const

MotionType	getMotionType () const

std::string	getName ()

std::filesystem::path	getOriginFilePath () const

std::vector< SensorPtr >	getPrioritySortedSensorData () const
	Get Sensors sorted after their xml priority (descending order).

bool	getReferencePose (Eigen::Matrix4f &referencePose, int &referenceAxis)

Eigen::Matrix4f	getRootPose (float timestep, bool extend=false)

MotionPtr	getSegmentMotion (float startTimestep, float endTimestep, bool changeTimestep=false) const
	get a segmented motion with name 'MOTIONNAME_segmented_STARTTIMESTEPf-ENDTIMESTEPf' according to timesteps.

MotionPtr	getSegmentMotion (float startTimestep, float endTimestep, std::string segmentMotionName, bool changeTimestep=false) const
	get a segmented motion with the given name according to timesteps.

SensorPtr	getSensor (SensorPtr sensor) const
	Returns a sensor in the motion having the same configuration.

SensorPtr	getSensorByName (const std::string &name) const
	Returns the sensor with the given name in the sensor data map.

template<typename S , typename std::enable_if< std::is_base_of< Sensor, S >::value >::type * = nullptr>
std::shared_ptr< S >	getSensorByType () const
	Returns the first sensor with the given sensor type (or nullptr) and cast it to a specific subclass sensor.

SensorPtr	getSensorByType (const std::string &type) const
	Returns the first sensor with the given sensor type or nullptr.

std::map< std::string, SensorPtr >	getSensorData () const
	Returns the sensor data as map.

Sensor *	getSensorIfEqual (Sensor &sensor)

template<typename S , typename std::enable_if< std::is_base_of< Sensor, S >::value >::type * = nullptr>
std::vector< std::shared_ptr< S > >	getSensorsByType () const
	Returns all sensor with the given sensor type and cast them to the specific subclass sensor. Removes nullptr after cast.

SensorList	getSensorsByType (const std::string &type) const
	Returns all sensor with the given sensor type.

std::set< std::string >	getSensorTypes () const
	Returns all sensor types contained the motion.

std::vector< float >	getTimesteps ()
	Returns model pose or motion capture marker timesteps if available.

simox::xml::RapidXMLWrapperNodePtr	getXML (const std::filesystem::path &path=std::string())

bool	hasModelProcessor () const
	Returns wether the motion contains a model processor.

bool	hasSameMaxTimestep () const
	Returns if the sensors in the motion have the same maximum timestep.

bool	hasSameMinTimestep () const
	Returns if the sensors in the motion have the same minimum timestep.

bool	hasSensor () const
	Returns true if the motion contains any sensor.

bool	hasSensor (const std::string &type) const
	Returns true if the motion contains at least one sensor with the given type.

void	initializeModel (ModelPtr model, float timestep, bool extend=false, bool update=true)

void	initializeModel (ModelPtr model, float timestep, float delta, bool extend=false, bool update=true)

bool	isMirrorSupported ()

bool	isReferenceModelMotion () const
	Returns if the motion is based on the mmm reference model decided by the file name (mmm.xml)

bool	isSubject () const

bool	isSynchronized () const
	Returns if the motion is synchronized.

bool	mirrorMotion (const Eigen::Matrix4f &referencePose, int referenceAxis, bool ignoreNotSupported=false)

	Motion (const std::string &name, ModelPtr originalModel, ModelProcessorPtr modelProcessor=nullptr, const std::filesystem::path &originFilePath=std::string(), const std::filesystem::path &modelFilePath=std::string(), MotionType motionType=MotionType::UNKNOWN)

	Motion (const std::string &name, ModelPtr originalModel, ModelPtr processedModel, ModelProcessorPtr modelProcessor, const std::filesystem::path &originFilePath=std::string(), const std::filesystem::path &modelFilePath=std::string(), MotionType motionType=MotionType::UNKNOWN)

	Motion (const std::string &name, ProcessedModelWrapperPtr model=ProcessedModelWrapperPtr(new ProcessedModelWrapper()), const std::filesystem::path &originFilePath=std::string(), MotionType motionType=MotionType::UNKNOWN)

	Motion (MotionPtr motion)

bool	operator< (MotionPtr m) const

bool	processModel (ModelProcessorPtr modelProcessor, ModelPtr optionalModel=nullptr)

bool	replaceSensorIfEqual (SensorPtr sensor)

void	saveXML (const std::filesystem::path &path, bool indent=true)

bool	scaleMotion (float targetHeight, bool shiftMotion, ModelPtr optionalModel=nullptr)

void	setMotionType (const std::string &type)

void	setMotionType (MotionType type)

void	setMotionTypeFromModel ()

void	setMotionTypeFromModelIfUnknown ()

void	setName (const std::string &name)

void	shiftMeasurements (float delta)

void	shiftMotion (const Eigen::Vector3f &positionDelta)

void	synchronizeSensorMeasurements (float timeFrequency)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation. Removes all sensors, that are not linear interpolatable.

void	synchronizeSensorMeasurements (float timeFrequency, float startTimestep, float endTimestep)
	Synchronizes all possible sensormeasurements on a specific time frequency via linear interpolation. Removes all sensors, that are not linear interpolatable.

std::string	toXML (const std::filesystem::path &path=std::string(), bool indent=true)

Static Public Member Functions
static MotionPtr	join (MotionPtr motion1, MotionPtr motion2, std::string name=std::string())
	Joins two motions by joining their sensors and returning a corresponding joined Motion.

Protected Member Functions
bool	addSensor (std::string name, SensorPtr sensor, float delta)

std::string	createSegmentName (float startTimestep, float endTimestep) const

MotionType	getMotionTypeFromModel () const

bool	setProcessedModel (ModelPtr model)

virtual void	setProcessedModelWrapper (ProcessedModelWrapperPtr modelContainer)

Protected Attributes
ProcessedModelWrapperPtr	model

MotionType	motionType

std::string	name

std::filesystem::path	originFilePath

std::map< std::string, SensorPtr >	sensorData

Friends
class	MotionReaderXML

Detailed Description

Stores a recorded motion with a corresponding virtual model and real measurements.

Member Function Documentation

◆ addSensor()

void MMM::Motion::addSensor	(	SensorPtr	sensor,
		float	delta = `0.0f`,
		bool	checkModel = `true`
	)

virtual

Adds a new sensor to the motion. If present the name of the sensor in the motion matches the unique name of the sensor, else the sensor type is set as name. Ascending numbers starting with 2 are added if the motion already contains a sensor matching the sensor type.

Parameters

sensor	The sensor.
delta	Timeshift of the sensor compared to the sensors of the motion.

Exceptions

MMMException if a sensor with the same configuration is already contained or the sensor not matching the model.

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◆ clone()

MotionPtr MMM::Motion::clone	(	bool	cloneSensors = `true`,
		const std::string &	newName = `std::string()`
	)		const

Adds all information of this class to the given motion object

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◆ getModel()

ModelPtr MMM::Motion::getModel ( bool processed = true ) const

Return the model. If required loads the model from original model file path

Parameters

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

Returns: The robot model if no model is specified.

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◆ getModelProcessor()

ModelProcessorPtr MMM::Motion::getModelProcessor ( ) const

Return the ModelProcessor (if specified).

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◆ getOriginFilePath()

std::filesystem::path MMM::Motion::getOriginFilePath ( ) const

Returns origin path when loaded from file.

◆ operator<()

bool MMM::Motion::operator< ( MotionPtr m ) const

Compare motion after MotionType, e.g. subjects before objects

◆ setMotionTypeFromModel()

void MMM::Motion::setMotionTypeFromModel ( )

method to get motion type from model name if not yet specified

◆ shiftMeasurements()

void MMM::Motion::shiftMeasurements ( float delta )

Only shifts the measurements of this motion. Does not notify other members of MotionRecording about shift.

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

/builds/sw/mmm/core/MMM/Motion/Motion.h
/builds/sw/mmm/core/MMM/Motion/Motion.cpp

Master Motor Map

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ addSensor()

◆ clone()

◆ getModel()

◆ getModelProcessor()

◆ getOriginFilePath()

◆ operator<()

◆ setMotionTypeFromModel()

◆ shiftMeasurements()