Base class for all type of force platform. More...

#include <btkForcePlatform.h>

Inheritance diagram for btk::ForcePlatform:

Public Types
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >	CalMatrix

typedef AnalogCollection::ConstIterator	ConstIterator

typedef btkSharedPtr< const ForcePlatform >	ConstPointer

typedef Eigen::Matrix< double, 3, 1 >	Corner

typedef AnalogCollection::Iterator	Iterator

typedef btkNullPtr< ForcePlatform >	NullPointer

typedef Eigen::Matrix< double, 3, 1 >	Origin

typedef btkSharedPtr < ForcePlatform >	Pointer

Public Types inherited from btk::DataObject
typedef btkSharedPtr< const DataObject >	ConstPointer

typedef btkNullPtr< DataObject >	NullPointer

typedef btkSharedPtr< DataObject >	Pointer

Public Types inherited from btk::Object
typedef btkSharedPtr< const Object >	ConstPointer

typedef btkSharedPtr< Object >	Pointer

Public Member Functions
Iterator	Begin ()

ConstIterator	Begin () const

Pointer	Clone () const

Iterator	End ()

ConstIterator	End () const

CalMatrix &	GetCalMatrix ()

const CalMatrix &	GetCalMatrix () const

Analog::Pointer	GetChannel (int idx) const

int	GetChannelNumber () const

AnalogCollection::Pointer	GetChannels () const

const Corner	GetCorner (int idx) const

Corners &	GetCorners ()

const Corners &	GetCorners () const

Origin &	GetOrigin ()

const Origin &	GetOrigin () const

int	GetType () const

void	SetCalMatrix (const CalMatrix &cal)

void	SetChannel (int idx, Analog::Pointer c)

void	SetCorner (int row, int col, double v)

void	SetCorner (int idx, double x, double y, double z)

void	SetCorner (int idx, const Corner &c)

void	SetCorners (const Corners &c)

void	SetOrigin (double x, double y, double z)

void	SetOrigin (const Origin &o)

virtual	~ForcePlatform ()

Public Member Functions inherited from btk::DataObject
DataObject *	GetParent () const

bool	HasParent () const

void	Modified ()

void	SetParent (DataObject *parent)

void	Update ()

Public Member Functions inherited from btk::Object
unsigned long int	GetTimestamp () const

Static Public Member Functions
static NullPointer	Null ()

Static Public Member Functions inherited from btk::DataObject
static NullPointer	Null ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< double, 3, 4 >	Corners

Protected Member Functions
	ForcePlatform ()

Protected Member Functions inherited from btk::DataObject
	DataObject ()

	DataObject (const DataObject &toCopy)

virtual	~DataObject ()

Protected Member Functions inherited from btk::Object
	Object ()

	Object (const Object &toCopy)

virtual	~Object ()

Protected Attributes
CalMatrix	m_CalMatrix

AnalogCollection::Pointer	m_Channels

int	m_Type

Protected Attributes inherited from btk::Object
unsigned long int	m_Timestamp

Detailed Description

Base class for all type of force platform.

This class is generic and doesn't know its type, nor the number of analog channels used. To use predefined force platform as proposed in the documentation of the C3D file format, check the following classes:

btk::ForcePlatformType1: 6 channels (FX, FY, FZ, PX, PY, MZ);
btk::ForcePlatformType2: 6 channels (FX, FY, FZ, MX, MY, MZ);
btk::ForcePlatformType3: 8 channels (FZ1, FZ2, FZ3, FZ4, FX12, FX34, FY14, FY23);
btk::ForcePlatformType4: Same as Type-2 + calibration matrix 6 (columns) by 6 (rows);
btk::ForcePlatformType5: Same as Type-3 + calibration matrix 6 (columns) by 8 (rows);
btk::ForcePlatformType6: 12 channels (FX[1,2,3,4], FY[1,2,3,4], FZ[1,2,3,4] + calibration matrix 12 by 12).

Member Typedef Documentation

btk::ForcePlatform::CalMatrix

Type which represents a possible calibration matrix used with the force platform.

btk::ForcePlatform::ConstIterator

Const iterator for channels contained in the force platform object.

btk::ForcePlatform::ConstPointer

Smart pointer associated with a const ForcePlatform object.

btk::ForcePlatform::Corner

Type which represents the coordinates of one corner.

btk::ForcePlatform::Iterator

Iterator for channels contained in the force platform object.

btk::ForcePlatform::NullPointer

Special null pointer associated with a ForcePlatform object. This type should be used only internally to test the nullity of a smart pointer. See the static method Null() instead.

btk::ForcePlatform::Origin

Type which represents the origin of the force platform.

btk::ForcePlatform::Pointer

Smart pointer associated with a ForcePlatform object.

Constructor & Destructor Documentation

btk::ForcePlatform::~ForcePlatform ( )

inlinevirtual

Empty destructor.

btk::ForcePlatform::ForcePlatform ( )

protected

Constructor.

Member Function Documentation

Iterator btk::ForcePlatform::Begin ( )

inline

Returns an iterator to the beginning of the list of items.

ConstIterator btk::ForcePlatform::Begin ( ) const

inline

Returns a const iterator to the beginning of the list of items.

Pointer btk::ForcePlatform::Clone ( ) const

inline

Clones the object and return it as new smart pointer.

Iterator btk::ForcePlatform::End ( )

inline

Returns an iterator just past the last item.

ConstIterator btk::ForcePlatform::End ( ) const

inline

Returns a const iterator just past the last item.

CalMatrix & btk::ForcePlatform::GetCalMatrix ( )

inline

Returns calibration marix.

Warning: If you modify the object's content with this function, don't forget to call the Modified() method.

const CalMatrix & btk::ForcePlatform::GetCalMatrix ( ) const

inline

Returns the calibration matrix.

Analog::Pointer btk::ForcePlatform::GetChannel ( int idx ) const

inline

Returns the channel at the index idx.

int btk::ForcePlatform::GetChannelNumber ( ) const

inline

Returns the number of channels.

AnalogCollection::Pointer btk::ForcePlatform::GetChannels ( ) const

inline

Returns force platform's channels.

const ForcePlatform::Corner btk::ForcePlatform::GetCorner ( int idx ) const

Returns the corner at index idx.

Corners & btk::ForcePlatform::GetCorners ( )

inline

Returns corners.

Warning: If you modify the object's content with this function, don't forget to call the Modified() method.

const Corners & btk::ForcePlatform::GetCorners ( ) const

inline

Returns corners.

Origin & btk::ForcePlatform::GetOrigin ( )

inline

Returns the origin of the force platform.

Warning: If you modify the object's content with this function, don't forget to call the Modified() method.

const Origin & btk::ForcePlatform::GetOrigin ( ) const

inline

Returns the origin of the force platform.

int btk::ForcePlatform::GetType ( ) const

inline

Returns the type of the force platform.

static NullPointer btk::ForcePlatform::Null ( )

inlinestatic

Static function to return a null pointer.

Note: This static method should be used only to test if a shared ponter is null or not. It is advised to call the method without parenthesis as special (in)equality operator are implemented to use a function pointer. See the description of the class NullPtr for an example.

void btk::ForcePlatform::SetCalMatrix ( const CalMatrix & cal )

Set the calibration matrix

void btk::ForcePlatform::SetChannel	(	int	idx,
		Analog::Pointer	c
	)

Sets the channel at the index idx by the object c.

void btk::ForcePlatform::SetCorner	(	int	row,
		int	col,
		double	v
	)

Sets the coordinate at position row and col with the value v.

void btk::ForcePlatform::SetCorner	(	int	idx,
		double	x,
		double	y,
		double	z
	)

Set the coordinates of the corner idx.

void btk::ForcePlatform::SetCorner	(	int	idx,
		const Corner &	c
	)

Set the corner idx by c.

void btk::ForcePlatform::SetCorners ( const Corners & c )

Set corners by c.

void btk::ForcePlatform::SetOrigin	(	double	x,
		double	y,
		double	z
	)

Sets the origin.

void btk::ForcePlatform::SetOrigin ( const Origin & o )

Sets the origin.

Member Data Documentation

btk::ForcePlatform::Corners

Type which represents the coordinates of the four corners of the force platform.

btk::ForcePlatform::m_CalMatrix

protected

Calibrage matrix which could be used to correct cross talk between channels.

btk::ForcePlatform::m_Channels

protected

Channels of the force platform.

btk::ForcePlatform::m_Type

protected

Type of the force platform. Used to determine necessary data for a particular force platform model.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation