API  4.2
For C++ developers
OpenSim::XsensDataReader Class Reference

XsensDataReader is a class that reads files produced by IMU manufacturer Xsens and produces datatables from them. More...

+ Inheritance diagram for OpenSim::XsensDataReader:

Public Member Functions

 XsensDataReader ()=default
 
 XsensDataReader (const XsensDataReaderSettings &settings)
 
virtual ~XsensDataReader ()=default
 
XsensDataReaderclone () const override
 
const XsensDataReaderSettingsgetSettings () const
 Method to get const reference to the internal XsensDataReaderSettings object maintained by this reader. More...
 
XsensDataReaderSettingsupdSettings ()
 Method to get writable reference to the internal XsensDataReaderSettings object maintained by this reader, to allow modification after construction. More...
 
- Public Member Functions inherited from OpenSim::IMUDataReader
 IMUDataReader ()=default
 
 IMUDataReader (const IMUDataReader &)=default
 
 IMUDataReader (IMUDataReader &&)=default
 
IMUDataReaderoperator= (const IMUDataReader &)=default
 
IMUDataReaderoperator= (IMUDataReader &&)=default
 
virtual ~IMUDataReader ()=default
 
- Public Member Functions inherited from OpenSim::DataAdapter
 DataAdapter ()=default
 
 DataAdapter (const DataAdapter &)=default
 
 DataAdapter (DataAdapter &&)=default
 
DataAdapteroperator= (const DataAdapter &)=default
 
DataAdapteroperator= (DataAdapter &&)=default
 
virtual ~DataAdapter ()=default
 
DataAdapter::OutputTables read (const std::string &dataSourceSpecification) const
 Public interface to read data from a dataSourceSpecification, typically a file or folder. More...
 
const std::shared_ptr< AbstractDataTablegetDataTable (const OutputTables &tables, const std::string tableName)
 Generic interface to retrieve a specific table by name from read result. More...
 

Protected Member Functions

DataAdapter::OutputTables extendRead (const std::string &folderName) const override
 Typically, Xsens can export a trial as one .mtb file (binary that we can't parse) or as collection of ASCII text files that are tab delimited, one per sensor. More...
 
virtual void extendWrite (const DataAdapter::InputTables &tables, const std::string &sinkName) const override
 Implements writing functionality, not implemented. More...
 
- Protected Member Functions inherited from OpenSim::IMUDataReader
DataAdapter::OutputTables createTablesFromMatrices (double dataRate, const std::vector< std::string > &labels, const std::vector< double > &times, const SimTK::Matrix_< SimTK::Quaternion > &rotationsData, const SimTK::Matrix_< SimTK::Vec3 > &linearAccelerationData, const SimTK::Matrix_< SimTK::Vec3 > &magneticHeadingData, const SimTK::Matrix_< SimTK::Vec3 > &angularVelocityData) const
 create a map of names to TimeSeriesTables. More...
 

Additional Inherited Members

- Public Types inherited from OpenSim::DataAdapter
typedef std::map< std::string, std::shared_ptr< DataAdapter > > RegisteredDataAdapters
 Type of the registry containing registered adapters. More...
 
typedef std::map< std::string, std::shared_ptr< AbstractDataTable > > OutputTables
 Collection of tables returned by reading methods implemented in derived classes. More...
 
typedef std::map< std::string, const AbstractDataTable * > InputTables
 Collection of tables accepted by writing methods implemented in derived classes. More...
 
- Static Public Member Functions inherited from OpenSim::IMUDataReader
static const TimeSeriesTable_< SimTK::Quaternion_< double > > & getOrientationsTable (const DataAdapter::OutputTables &tables)
 Custom accessors to retrieve tables of proper types without requiring users/scripters to cast. More...
 
static const TimeSeriesTableVec3getLinearAccelerationsTable (const DataAdapter::OutputTables &tables)
 get table of LinearAccelerations as TimeSeriesTableVec3 More...
 
static const TimeSeriesTableVec3getMagneticHeadingTable (const DataAdapter::OutputTables &tables)
 get table of MagneticHeading as TimeSeriesTableVec3 More...
 
static const TimeSeriesTableVec3getAngularVelocityTable (const DataAdapter::OutputTables &tables)
 get table of AngularVelocity as TimeSeriesTableVec3 More...
 
- Static Public Member Functions inherited from OpenSim::DataAdapter
static bool registerDataAdapter (const std::string &identifier, const DataAdapter &adapter)
 Register a concrete DataAdapter by its unique string identifier. More...
 
- Static Public Attributes inherited from OpenSim::IMUDataReader
static const std::string Orientations
 
static const std::string LinearAccelerations
 
static const std::string MagneticHeading
 
static const std::string AngularVelocity
 
- Static Protected Member Functions inherited from OpenSim::DataAdapter
static std::shared_ptr< DataAdaptercreateAdapter (const std::string &identifier)
 Creator of concrete DataAdapter(s) for the specified source type by its unique identifier (string). More...
 

Detailed Description

XsensDataReader is a class that reads files produced by IMU manufacturer Xsens and produces datatables from them.

This is intended to help consume IMU outputs.

Constructor & Destructor Documentation

◆ XsensDataReader() [1/2]

OpenSim::XsensDataReader::XsensDataReader ( )
default

◆ XsensDataReader() [2/2]

OpenSim::XsensDataReader::XsensDataReader ( const XsensDataReaderSettings settings)
inline

◆ ~XsensDataReader()

virtual OpenSim::XsensDataReader::~XsensDataReader ( )
virtualdefault

Member Function Documentation

◆ clone()

XsensDataReader* OpenSim::XsensDataReader::clone ( ) const
overridevirtual

Implements OpenSim::DataAdapter.

◆ extendRead()

DataAdapter::OutputTables OpenSim::XsensDataReader::extendRead ( const std::string &  folderName) const
overrideprotectedvirtual

Typically, Xsens can export a trial as one .mtb file (binary that we can't parse) or as collection of ASCII text files that are tab delimited, one per sensor.

All of these files have a common prefix that indicates the trial, and a suffix that indicates the sensor (fixed across trials). Example: MT_012005D6_031-000_00B421AF.txt, MT_012005D6_031-000_00B4227B.txt for trial MT_012005D6_031-000_and sensors 00B421AF, 00B4227B respectively. The function below reads all files in the given folder name, with common prefix (same trial). It produces a list of tables depending on the contents of the files read.

  • One table for Orientations,
  • one table for LinearAccelerations
  • one table for MagneticHeading data,
  • one table for AngularVelocity data. If data is missing, an empty table is returned.

Implements OpenSim::DataAdapter.

◆ extendWrite()

virtual void OpenSim::XsensDataReader::extendWrite ( const DataAdapter::InputTables tables,
const std::string &  sinkName 
) const
inlineoverrideprotectedvirtual

Implements writing functionality, not implemented.

Implements OpenSim::DataAdapter.

◆ getSettings()

const XsensDataReaderSettings& OpenSim::XsensDataReader::getSettings ( ) const
inline

Method to get const reference to the internal XsensDataReaderSettings object maintained by this reader.

◆ updSettings()

XsensDataReaderSettings& OpenSim::XsensDataReader::updSettings ( )
inline

Method to get writable reference to the internal XsensDataReaderSettings object maintained by this reader, to allow modification after construction.


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