Whole-body human reference model and tools for unifying representations of whole-body human motion
Public Member Functions | |
bool | addSensorMeasurement (KinematicSensorMeasurementPtr measurement) |
bool | checkModel (ModelPtr model) |
boost::shared_ptr< BasicSensor< KinematicSensorMeasurement > > | cloneConfiguration () |
bool | equalsConfiguration (SensorPtr other) |
std::vector< std::string > | getJointNames () |
int | getPriority () |
std::string | getType () |
std::string | getVersion () |
KinematicSensor (const std::vector< std::string > &jointNames, const std::string &description=std::string()) | |
Public Member Functions inherited from MMM::InterpolatableSensor< KinematicSensorMeasurement > | |
boost::shared_ptr< KinematicSensorMeasurement > | 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< KinematicSensorMeasurement > | |
virtual bool | addSensorMeasurement (boost::shared_ptr< KinematicSensorMeasurement > measurement) |
void | appendSensorXML (RapidXMLWriterNodePtr node) |
SensorPtr | clone () |
boost::shared_ptr< BasicSensor< KinematicSensorMeasurement > > | cloneDerived () |
void | extend (float minTimestep, float maxTimestep) |
virtual boost::shared_ptr< KinematicSensorMeasurement > | 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 (float timestep) |
virtual void | shiftMeasurements (float delta) |
Public Member Functions inherited from MMM::Sensor | |
std::string | getDescription () |
std::string | getName () |
std::string | getUniqueName () |
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 KinematicSensorPtr | join (std::vector< KinematicSensorPtr > sensors) |
static KinematicSensorPtr | join (std::vector< KinematicSensorPtr > sensors, const std::vector< float > ×teps) |
static KinematicSensorPtr | loadSensorXML (RapidXMLReaderNodePtr node) |
Static Public Member Functions inherited from MMM::Sensor | |
static SensorPtr | join (SensorPtr sensor1, SensorPtr sensor2) |
Static Public Attributes | |
static constexpr const char * | TYPE = "Kinematic" |
static constexpr const char * | VERSION = "1.0" |
Additional Inherited Members | |
Protected Member Functions inherited from MMM::InterpolatableSensor< KinematicSensorMeasurement > | |
InterpolatableSensor (const std::string &description=std::string(), const std::map< float, boost::shared_ptr< KinematicSensorMeasurement > > &measurements=std::map< float, boost::shared_ptr< KinematicSensorMeasurement > >()) | |
Protected Member Functions inherited from MMM::BasicSensor< KinematicSensorMeasurement > | |
BasicSensor (const std::string &description=std::string(), const std::map< float, boost::shared_ptr< KinematicSensorMeasurement > > &measurements=std::map< float, boost::shared_ptr< KinematicSensorMeasurement > >()) | |
SensorPtr | joinSensor (SensorPtr sensor) |
void | loadMeasurementNodeXML (RapidXMLReaderNodePtr node) |
void | loadSensor (RapidXMLReaderNodePtr node) |
Protected Member Functions inherited from MMM::Sensor | |
Sensor (const std::string &description) | |
Protected Attributes inherited from MMM::BasicSensor< KinematicSensorMeasurement > | |
std::map< float, boost::shared_ptr< KinematicSensorMeasurement > > | measurements |
Protected Attributes inherited from MMM::Sensor | |
std::string | description |
std::string | name |
std::string | uniqueName |
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Checks, if the sensor data applicable for the given model
Implements MMM::BasicSensor< KinematicSensorMeasurement >.
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Checks if sensor type and configuration is equal
Implements MMM::BasicSensor< KinematicSensorMeasurement >.
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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.
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Returns the sensor type.
Implements MMM::Sensor.
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Joins all kinematic sensors together on the timestep measurements of the biggest sensor if possible for all given sensors via linear interpolation.
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Joins all kinematic sensors together the given timestep if possible via linear interpolation.