MMM::MotionRecording Class Reference

Inheritance diagram for MMM::MotionRecording:

Public Member Functions
bool	addMotion (MotionPtr motion)
	Add a motion.
bool	addReplaceMotion (MotionPtr motion)
	Replace a motion with the same name in a list of motions with the given motion. Otherwise the motion will just be added. Returns true if a motion was replaced.
std::vector< MotionPtr >::iterator	begin ()
MotionRecordingPtr	clone (bool cloneSensors=true)
	clone Create a clone of this motion recording More...
MotionRecordingPtr	cloneConfiguration ()
bool	contains (const std::string &motionName)
	Returns 'True' if a motion is present with the given name.
bool	containsMotionByName (MotionPtr motion)
	Returns 'True' if a motion is present having the same name as the given motion.
bool	containsMotionWithAnySensor ()
	Returns 'True' if any motion contains sensor information.
bool	containsMotionWithSensor (const std::string &type)
	Returns 'True' if any motion contains sensor information with a given type.
size_t	countRefereceModelMotion ()
	Returns the number of mmm model reference motions in this recording.
bool	empty ()
	Returns 'True' if no motions are in this motion recording.
std::vector< MotionPtr >::iterator	end ()
float	getCommonMaxTimestep ()
	Return the common maximum timestep of all motions.
float	getCommonMinTimestep ()
	Return the common minimum timestep of all motions.
std::tuple< float, float >	getCommonTimestepInterval ()
	Return the common minimum and maximum timestep of all motions.
void	getCommonTimestepInterval (float &minTimestep, float &maxTimestep)
	Return the common minimum and maximum timestep of all motions.
std::string	getDescription ()
	Returns the description of this recording.
MotionPtr	getFirstMotion ()
	Returns the first motion in recording.
float	getMaxTimestep (MotionPtr ignoreMotion=nullptr)
	Return the maximum timestep of all motions.
void	getMinMaxTimesteps (float &minTimestep, float &maxTimestep)
	Return the minimum and timestep of all motions.
std::tuple< float, float >	getMinMaxTimesteps (MotionPtr ignoreMotion=nullptr)
	Return the minimum and timestep of all motions.
float	getMinTimestep (MotionPtr ignoreMotion=nullptr)
	Return the minimum timestep of all motions.
MotionRecordingPtr	getMirroredMotionRecording ()
MotionPtr	getMotion (const std::string &motionName)
	Returns the motion with the given name or nullptr if not available.
MotionPtr	getMotion (unsigned int index)
	Returns the motion at given index or nullptr if size does not match.
MotionPtr	getMotionByName (MotionPtr motion)
	Returns a motion with the same name as given motion or nullptr if not available.
std::vector< std::string >	getMotionNames (MotionPtr ignoreMotion=nullptr)
	Return all motion names.
MotionRecordingPtr	getMotionRecordingSegment (float startTimestep, float endTimestep, bool changeTimestep)
MotionPtr	getMotionThrow (const std::string &motionName)
	Returns the motion with the given name. Throws MMMException if not available.
std::string	getName ()
	Returns the name of this recording.
std::filesystem::path	getOriginFilePath ()
MotionRecordingPtr	getReducedMotion (bool changeTimestep)
MotionPtr	getReferenceModelMotion ()
bool	getReferencePose (Eigen::Matrix4f &referencePose, int &referenceAxis)
MotionRecordingSegmentPtr	getSegment ()
void	mirrorMotions ()
	MotionRecording (std::filesystem::path filePath="", const std::string &name=std::string(), const std::string &description=std::string())
MotionRecordingPtr	motionsWithModel (bool logging=false)
	Returns all motions which contain a model.
MotionRecordingPtr	motionsWithSensor (const std::string &type, bool logging=false)
	Returns all motions which contain a specific sensor type.
std::vector< MotionPtr >::iterator	remove (MotionPtr motion)
void	replaceAndSave (MotionPtr motion, const std::filesystem::path &motionFilePath)
	Replaces the motion with the same name and store at given filepath.
bool	replaceMotionByName (MotionPtr motion)
	Replace a motion with the same name in a list of motions with the given motion. Returns true if a motion was replaced.
void	saveXML (const std::filesystem::path &path, bool indent=true)
	saveXML Save containing motions as xml-based MMM dataformat More...
void	setDescription (const std::string &description)
	Set the description of this recording.
void	setMotionSegment (MotionRecordingSegmentPtr segment)
void	setName (const std::string &name)
	Sets the name of this recording.
size_t	size ()
	Returns the number of motions present.
void	synchronizeMeasurements (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)
	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)
	toXML Returns the containing motions as xml-based MMM dataformat More...

Static Public Member Functions
static MotionRecordingPtr	EmptyRecording ()
	Create a new empty motion recording.

Protected Member Functions
void	add (MotionPtr motion)
simox::xml::RapidXMLWrapperNodePtr	getXML (const std::filesystem::path &path)
bool	isNameChangeAllowed (const std::string &name) override
void	notifyIntervalChange (MotionPtr motion) override
void	notifyMeasurementShift (MotionPtr motion, float delta) override
void	notifyNameChange (MotionPtr motion, const std::string &oldName) override

Protected Attributes
std::string	description
std::vector< MotionPtr >	motions
std::string	name
std::filesystem::path	originFilePath
MotionRecordingSegmentPtr	segment

Member Function Documentation

clone()

MotionRecordingPtr MMM::MotionRecording::clone

(

bool

cloneSensors = true

)

clone Create a clone of this motion recording

Parameters

cloneSensors

If sensor measurement should be cloned

Returns

cloned motion recording

getReducedMotion()

MotionRecordingPtr MMM::MotionRecording::getReducedMotion

(

bool

changeTimestep

)

Returns a motion recording where min and max timestep match approximately

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getReferenceModelMotion()

MotionPtr MMM::MotionRecording::getReferenceModelMotion

(

)

Returns the first mmm model reference motion in the list

saveXML()

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

saveXML Save containing motions as xml-based MMM dataformat

Parameters

path	Where to store the xml file
indent	Use indents

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toXML()

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

toXML Returns the containing motions as xml-based MMM dataformat

Parameters

path	Where the motion will be stored later to create relative paths
indent	Use indents

Returns

string in MMM data format

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

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