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static void | rotateOrientationTable (OpenSim::TimeSeriesTable_< SimTK::Quaternion_< double >> &quaternionsTable, const SimTK::Rotation_< double > &rotationMatrix) |
| Apply the passed in Rotation matrix to a TimeSeriesTable of Quaternions. More...
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static TimeSeriesTable_< SimTK::Quaternion_< double > > | createOrientationsFileFromMarkers (const std::string &markersFile) |
| Create Orientations as a TimeSeriesTable based on passed in markerFile. More...
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static SimTK::Transform | formTransformFromPoints (const SimTK::Vec3 &op, const SimTK::Vec3 &xp, const SimTK::Vec3 &yp) |
| form a Transform from 3 points origin (op), along x (xp - op), along y(yp - op) More...
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static std::vector< OpenSim::IMU *> | addModelIMUs (Model &model, std::vector< std::string > &paths) |
| Add IMUs to passed in model and return references to them based on paths specification. More...
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static OpenSim::TimeSeriesTable_< SimTK::Rotation_< double > > | convertQuaternionsToRotations (const OpenSim::TimeSeriesTable_< SimTK::Quaternion_< double >> &qauternionsTable) |
| Convert a TimeSeriesTable with quaternions as data elements into a TimeSeriesTable of Rotation matrices. More...
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static SimTK::Vec3 | computeHeadingCorrection (OpenSim::Model &model, const SimTK::State &state, OpenSim::TimeSeriesTable_< SimTK::Quaternion_< double >> &quatTimeSeries, const std::string &baseIMU, const SimTK::CoordinateDirection) |
| Compute a SimTK::Vec3 of Space-fixed XYZ Euler angles that aligns the specified baseIMU and CoordinateDirection combination with the positive X-axis (= typically forward) direction of the base segment in OpenSim model. More...
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◆ addModelIMUs()
static std::vector< OpenSim::IMU* > OpenSim::OpenSenseUtilities::addModelIMUs |
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Model & |
model, |
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std::vector< std::string > & |
paths |
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Add IMUs to passed in model and return references to them based on paths specification.
- If "paths" refer to user specified list of frames, then one new "{Frame}_imu" is added to the model and returned in result.
◆ computeHeadingCorrection()
static SimTK::Vec3 OpenSim::OpenSenseUtilities::computeHeadingCorrection |
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OpenSim::Model & |
model, |
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const SimTK::State & |
state, |
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OpenSim::TimeSeriesTable_< SimTK::Quaternion_< double >> & |
quatTimeSeries, |
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const std::string & |
baseIMU, |
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const SimTK::CoordinateDirection |
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) |
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Compute a SimTK::Vec3 of Space-fixed XYZ Euler angles that aligns the specified baseIMU and CoordinateDirection combination with the positive X-axis (= typically forward) direction of the base segment in OpenSim model.
Base segment is typically the segment attached directly to Ground. baseIMU is assumed to be placed on Base segment. Passed in state places the model in the same configuration as the first frame of the passed in table of quaternions quatTimeSeries.
◆ convertQuaternionsToRotations()
◆ createOrientationsFileFromMarkers()
static TimeSeriesTable_<SimTK::Quaternion_<double> > OpenSim::OpenSenseUtilities::createOrientationsFileFromMarkers |
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const std::string & |
markersFile | ) |
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Create Orientations as a TimeSeriesTable based on passed in markerFile.
◆ formTransformFromPoints()
static SimTK::Transform OpenSim::OpenSenseUtilities::formTransformFromPoints |
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const SimTK::Vec3 & |
op, |
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const SimTK::Vec3 & |
xp, |
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const SimTK::Vec3 & |
yp |
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form a Transform from 3 points origin (op), along x (xp - op), along y(yp - op)
◆ rotateOrientationTable()
static void OpenSim::OpenSenseUtilities::rotateOrientationTable |
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OpenSim::TimeSeriesTable_< SimTK::Quaternion_< double >> & |
quaternionsTable, |
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const SimTK::Rotation_< double > & |
rotationMatrix |
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Apply the passed in Rotation matrix to a TimeSeriesTable of Quaternions.
The rotation is done in place so the table passed in is modified
The documentation for this class was generated from the following file:
- OpenSim/Simulation/OpenSense/OpenSenseUtilities.h