btk::AMTIForcePlatformFileIO Class Reference

Interface to read/write AMTIForcePlatform files. More...

#include <btkAMTIForcePlatformFileIO.h>

Inheritance diagram for btk::AMTIForcePlatformFileIO:

Public Types
typedef btkSharedPtr< const AMTIForcePlatformFileIO >	ConstPointer
typedef btkSharedPtr < AMTIForcePlatformFileIO >	Pointer
Public Types inherited from btk::AcquisitionFileIO
enum	ByteOrder { OrderNotApplicable = 0, IEEE_LittleEndian, VAX_LittleEndian, IEEE_BigEndian }
typedef btkSharedPtr< const AcquisitionFileIO >	ConstPointer
enum	FileType { TypeNotApplicable, ASCII, Binary }
enum	InternalsUpdateOption {   UpdateNotApplicable = 0, NoUpdate = UpdateNotApplicable, DataBasedUpdate = 1, MetaDataBasedUpdate = 2,   FileFormatOption = 512 }
typedef btkSharedPtr < AcquisitionFileIO >	Pointer
enum	StorageFormat { StorageNotApplicable = 0, Float = -1, Integer = 1 }

Public Member Functions
virtual bool	CanReadFile (const std::string &filename)
const std::vector< float > &	GetCorners () const
const std::vector< float > &	GetDimensions () const
const std::vector< float > &	GetOrigin () const
virtual void	Read (const std::string &filename, Acquisition::Pointer output)
void	SetDimensions (float width, float length, float height)
void	SetGeometry (const std::vector< float > &corners, const std::vector< float > &origin)
Public Member Functions inherited from btk::AcquisitionFileIO
virtual bool	CanWriteFile (const std::string &filename)=0
ByteOrder	GetByteOrder () const
std::string	GetByteOrderAsString () const
FileType	GetFileType () const
int	GetInternalsUpdateOptions () const
StorageFormat	GetStorageFormat () const
std::string	GetStorageFormatAsString () const
virtual const Extensions &	GetSupportedExtensions () const =0
bool	HasInternalsUpdateOption (int option) const
void	SetByteOrder (ByteOrder b)
void	SetInternalsUpdateOptions (int options)
void	SetStorageFormat (StorageFormat s)
virtual void	Write (const std::string &filename, Acquisition::Pointer input)=0

Static Public Member Functions
static Pointer	New ()
Static Public Member Functions inherited from btk::AcquisitionFileIO
static bool	HasReadOperation ()
static bool	HasWriteOperation ()

Protected Member Functions
	AMTIForcePlatformFileIO ()
Protected Member Functions inherited from btk::AcquisitionFileIO
	AcquisitionFileIO (FileType f=TypeNotApplicable, ByteOrder b=OrderNotApplicable, StorageFormat s=StorageNotApplicable, int internalsUpdate=UpdateNotApplicable)
void	SetFileType (FileType f)
virtual	~AcquisitionFileIO ()

Additional Inherited Members
Protected Attributes inherited from btk::AcquisitionFileIO
ByteOrder	m_ByteOrder
FileType	m_FileType
int	m_InternalsUpdate
StorageFormat	m_StorageFormat

Detailed Description

Interface to read/write AMTIForcePlatform files.

An AMTI Force Platform file contains 6 analog channels data stored in ASCII format corresponding to the forces and the moments measured by one AMTI force plateform. This kind of force platform is known as a force platform of type II (2). The forces are measured in newtons (N), while the moments are measured in newton meters (N.m). It is important to not that the returned forces and moments are the reaction measured by the force platform and not the measure itself. This choice was done to fit with the format stored in a btk::Acquisition object.

Warning

The forces and the moments in the file are measured in the platfrom (local) frame while a btk::Acquisition object store data in the global frame.
To be able to express the force, moments as well as the COP (computed by the filter btk::GroundReactionWrenchFilter), this reader assumes that the data comes from an AMTI force plate OR6-7, and uses then its dimensions (463.6 x 508 x 82.6 mm). All the dimensions must be given in millimeters.If your platform is not this one, then you have to modify the dimensions or the geometry.
From the dimensions, the coordinates of the 4 corners of the force plate are generated. Compared to the frame embed with the force plate, the corners 1,2,3,4 must be defined as the corner in the quadrant +x+y, -x+y, -x-y, and +x-y. The global frame is defined as the axis X going to the left, the Y axis is forward, and the Z axis goes up. You can modify the dimensions of the force platform, or directly its origin and the corners using the methods SetDimensions() or SetGeometry(). Finally, the information on the sample frequency is automatically determined by using the two first time samples. The inverse of the difference of these timestamps will give the sample frequency.

Member Typedef Documentation

btk::AMTIForcePlatformFileIO::ConstPointer

Smart pointer associated with a const AMTIForcePlatformFileIO object.

btk::AMTIForcePlatformFileIO::Pointer

Smart pointer associated with a AMTIForcePlatformFileIO object.

Constructor & Destructor Documentation

btk::AMTIForcePlatformFileIO::AMTIForcePlatformFileIO ( )

protected

Constructor.

Member Function Documentation

bool btk::AMTIForcePlatformFileIO::CanReadFile ( const std::string &  filename )

virtual

Checks if the first line contains 7 numbers.

Implements btk::AcquisitionFileIO.

void const std::vector< float > & btk::AMTIForcePlatformFileIO::GetCorners ( ) const

inline

Returns the position of the corners as a vector of 12x1 elements. The first three elements represent the coordinate of the first corner, etc.

const std::vector< float > & btk::AMTIForcePlatformFileIO::GetDimensions ( ) const

inline

Returns the dimensions of the force platform.

const std::vector< float > & btk::AMTIForcePlatformFileIO::GetOrigin ( ) const

inline

Returns the coordinates of the origin of the force platform.

static AMTIForcePlatformFileIO::Pointer btk::AMTIForcePlatformFileIO::New ( )

inlinestatic

Create a AMTIForcePlatformFileIO object an return it as a smart pointer.

void btk::AMTIForcePlatformFileIO::Read ( const std::string &  filename, Acquisition::Pointer  output  )

virtual

Read the file designated by filename and fill output.

Implements btk::AcquisitionFileIO.

void btk::AMTIForcePlatformFileIO::SetDimensions	(	float	width,
		float	length,
		float	height
	)

Set the dimensions of the force platform which will be used for the next readings.

Warning

The dimensions must be given in millimeters!

void btk::AMTIForcePlatformFileIO::SetGeometry	(	const std::vector< float > &	corners,
		const std::vector< float > &	origin
	)

Set the geometry (corners and origin) of the force platform which will be used for the next readings.

Warning

The geometry must be given in millimeters!

This method is an advanced method. All the data must be expressed in the global frame. The order of the corners is very important.