MMM::MotionFrame Class Reference

Public Member Functions
bool	addEntry (const std::string &name, MotionFrameEntryPtr entry)
MotionFramePtr	copy ()
MotionFrameEntryPtr	getEntry (const std::string &name)
	Retrieve custom motion data entries. Name is internally converted to lowercase.
unsigned int	getndof ()
Eigen::Vector3f	getRootPos ()
Eigen::Vector3f	getRootPosAcc ()
Eigen::Matrix4f	getRootPose ()
Eigen::Vector3f	getRootPosVel ()
Eigen::Vector3f	getRootRot ()
Eigen::Vector3f	getRootRotAcc ()
Eigen::Vector3f	getRootRotVel ()
bool	hasEntry (const std::string &name) const
	Check if entry with name (lowercase) is present.
	MotionFrame (const MotionFrame &inpSrc)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MotionFrame (unsigned int ndof)
bool	removeEntry (const std::string &name)
	Remove custom entry.
bool	setRootPos (const Eigen::Vector3f &pos)
bool	setRootPosAcc (const Eigen::Vector3f &posAcc)
bool	setRootPose (const Eigen::Matrix4f &pose)
bool	setRootPosVel (const Eigen::Vector3f &posVel)
bool	setRootRot (const Eigen::Vector3f &rot)
bool	setRootRotAcc (const Eigen::Vector3f &rotAcc)
bool	setRootRotVel (const Eigen::Vector3f &rotVel)
std::string	toXML ()
	Returns an XML string that describes this object.

Data Fields
Eigen::MatrixXf	_customMatrix
	Custom Matrix for debugging purposes only DO NOT USE! Will be removed in future versions! More...
Eigen::VectorXf	joint
	The joint values.
Eigen::VectorXf	joint_acc
	The joint accelerations (optional)
Eigen::VectorXf	joint_vel
	The joint velocities (optional)
float	timestep
	The timestep (s)

Protected Attributes
std::map< std::string, MotionFrameEntryPtr >	motionFrameEntries
	Here, custom motion data fields can be stored.
unsigned int	ndof
	The number of Degrees of Freedom.

Constructor & Destructor Documentation

MotionFrame()

MMM::MotionFrame::MotionFrame

(

const MotionFrame &

inpSrc

)

Copy Constructor

Member Function Documentation

addEntry()

bool MMM::MotionFrame::addEntry	(	const std::string &	name,
		MotionFrameEntryPtr	entry
	)

    Adds a custom motion data entry.  

Silently overwrites existing entries with same name (lowercase).

Parameters

name	The name is used to identify the custom data. Internally it is converted to lowercase.
entry	The data to store.

Returns

True on success.

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getRootPos()

Eigen::Vector3f MMM::MotionFrame::getRootPos

(

)

Returns standard entry "RootPosition". This is the 3D position of the model's root coordinate system in millimeters.

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getRootPosAcc()

Eigen::Vector3f MMM::MotionFrame::getRootPosAcc

(

)

Returns standard entry "RootPositionAcceleration" This is the acceleration of the model's root coordinate system.

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getRootPose()

Eigen::Matrix4f MMM::MotionFrame::getRootPose

(

)

Returns the root pose as homogeneous 4x4 matrix. Position is given in millimeters.

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getRootPosVel()

Eigen::Vector3f MMM::MotionFrame::getRootPosVel

(

)

Returns standard entry "RootPositionVelocity". This is the velocity of the model's root coordinate system.

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getRootRot()

Eigen::Vector3f MMM::MotionFrame::getRootRot

(

)

Returns standard entry "RootRotation". This is the orientation of the model's root coordinate system. Specified in Roll Pitch Yaw angles.

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getRootRotAcc()

Eigen::Vector3f MMM::MotionFrame::getRootRotAcc

(

)

Returns standard entry "RootRotationAcceleration" This is the rotation acceleration of the model's root coordinate system.

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getRootRotVel()

Eigen::Vector3f MMM::MotionFrame::getRootRotVel

(

)

Returns standard entry "RootRotationVelocity". This is the rotation velocity of the model's root coordinate system.

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setRootPos()

bool MMM::MotionFrame::setRootPos

(

const Eigen::Vector3f &

pos

)

Sets the standard entry "RootPosition". This is the 3D position of the model's root coordinate system in millimeters.

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setRootPosAcc()

bool MMM::MotionFrame::setRootPosAcc

(

const Eigen::Vector3f &

posAcc

)

Sets the standard entry "RootPositionAcceleration" This is the acceleration of the model's root coordinate system.

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setRootPose()

bool MMM::MotionFrame::setRootPose

(

const Eigen::Matrix4f &

pose

)

Sets the root pose as homogeneous 4x4 matrix. Position is given in millimeters.

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setRootPosVel()

bool MMM::MotionFrame::setRootPosVel

(

const Eigen::Vector3f &

posVel

)

Sets the standard entry "RootPositionVelocity". This is the velocity of the model's root coordinate system.

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setRootRot()

bool MMM::MotionFrame::setRootRot

(

const Eigen::Vector3f &

rot

)

Sets the standard entry "RootRotation". This is the orientation of the model's root coordinate system. Specified in Roll Pitch Yaw angles.

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setRootRotAcc()

bool MMM::MotionFrame::setRootRotAcc

(

const Eigen::Vector3f &

rotAcc

)

Sets the standard entry "RootRotationAcceleration" This is the rotation acceleration of the model's root coordinate system.

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setRootRotVel()

bool MMM::MotionFrame::setRootRotVel

(

const Eigen::Vector3f &

rotVel

)

Sets the standard entry "RootRotationVelocity". This is the rotation velocity of the model's root coordinate system.

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Field Documentation

_customMatrix

Eigen::MatrixXf MMM::MotionFrame::_customMatrix

Custom Matrix for debugging purposes only DO NOT USE! Will be removed in future versions!

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

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