btk::ForcePlatformWrenchFilter Class Reference

Calcule the wrench of the center of the force platform data, expressed in the global frame (by default). More...

#include <btkForcePlatformWrenchFilter.h>

Inheritance diagram for btk::ForcePlatformWrenchFilter:

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

Public Member Functions
ForcePlatformCollection::Pointer	GetInput ()
WrenchCollection::Pointer	GetOutput ()
bool	GetTransformToGlobalFrame () const
void	SetInput (ForcePlatform::Pointer input)
void	SetInput (ForcePlatformCollection::Pointer input)
void	SetTransformToGlobalFrame (bool activation=false)
Public Member Functions inherited from btk::ProcessObject
int	GetInputNumber () const
int	GetOutputNumber () const
int	GetValidInputNumber () const
void	ResetState ()
void	Update ()
Public Member Functions inherited from btk::Object
unsigned long int	GetTimestamp () const

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	ForcePlatformWrenchFilter ()
virtual void	GenerateData ()
ForcePlatformCollection::Pointer	GetInput (int idx)
WrenchCollection::Pointer	GetOutput (int idx)
virtual DataObject::Pointer	MakeOutput (int idx)
Protected Member Functions inherited from btk::ProcessObject
int	GetInputIndex (DataObject::Pointer input)
DataObject::Pointer	GetNthInput (int idx)
DataObject::ConstPointer	GetNthInput (int idx) const
DataObject::Pointer	GetNthOutput (int idx)
DataObject::ConstPointer	GetNthOutput (int idx) const
int	GetOutputIndex (DataObject::Pointer output)
bool	IsModified () const
void	Modified ()
	ProcessObject ()
void	SetInputNumber (int num)
virtual void	SetNthInput (int idx, DataObject::Pointer input)
virtual void	SetNthOutput (int idx, DataObject::Pointer output)
void	SetOutputNumber (int num)
virtual	~ProcessObject ()
Protected Member Functions inherited from btk::Object
	Object ()
	Object (const Object &toCopy)
virtual	~Object ()

Additional Inherited Members
Protected Attributes inherited from btk::Object
unsigned long int	m_Timestamp

Detailed Description

Calcule the wrench of the center of the force platform data, expressed in the global frame (by default).

Based on the given collection of forceplate set in input, this filter transform the associated analog channels in forces and moments. This transformation take into account the type of each force platform.

You can use the method SetTransformToGlobalFrame() to have the wrench expressed in the frame of the force platform.

Member Typedef Documentation

btk::ForcePlatformWrenchFilter::ConstPointer

Smart pointer associated with a const ForcePlatformWrenchFilter object.

btk::ForcePlatformWrenchFilter::Pointer

Smart pointer associated with a ForcePlatformWrenchFilter object.

Constructor & Destructor Documentation

btk::ForcePlatformWrenchFilter::ForcePlatformWrenchFilter ( )

protected

Constructor. Sets the number of inputs and outputs to 1.

Member Function Documentation

void btk::ForcePlatformWrenchFilter::GenerateData ( )

protectedvirtual

Generates the outputs' data.

Implements btk::ProcessObject.

WrenchCollection::Pointer btk::ForcePlatformWrenchFilter::GetInput ( )

inline

Gets the input registered with this process.

ForcePlatformCollection::Pointer btk::ForcePlatformWrenchFilter::GetInput ( int  idx )

inlineprotected

Returns the input at the index idx.

PointCollection::Pointer btk::ForcePlatformWrenchFilter::GetOutput ( )

inline

Gets the output created with this process.

WrenchCollection::Pointer btk::ForcePlatformWrenchFilter::GetOutput ( int  idx )

inlineprotected

Returns the output at the index idx.

bool btk::ForcePlatformWrenchFilter::GetTransformToGlobalFrame ( ) const

inline

Returns the activation flag for the transformation in the global frame.

DataObject::Pointer btk::ForcePlatformWrenchFilter::MakeOutput ( int  idx )

protectedvirtual

Creates a WrenchCollection:Pointer object and return it as a DataObject::Pointer.

Implements btk::ProcessObject.

static Pointer btk::ForcePlatformWrenchFilter::New ( )

inlinestatic

Creates a smart pointer associated with a ForcePlatformWrenchFilter object.

void btk::ForcePlatformWrenchFilter::SetInput ( ForcePlatform::Pointer  input )

inline

Sets the input required with this process. This input is transformed in a collection force platforms with a single force platform.

void btk::ForcePlatformWrenchFilter::SetInput ( ForcePlatformCollection::Pointer  input )

inline

Sets the input required with this process.

void btk::ForcePlatformWrenchFilter::SetTransformToGlobalFrame

(

bool

activation = false

)

Sets the flag to activate the transformation to the global frame.