Extracts force platform data from a btk::Acquisition object. More...
#include <btkForcePlatformsExtractor.h>
Public Types | |
| typedef btkSharedPtr< const ForcePlatformsExtractor > | ConstPointer |
| typedef btkSharedPtr < ForcePlatformsExtractor > | 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 | |
| Acquisition::Pointer | GetInput () |
| ForcePlatformCollection::Pointer | GetOutput () |
| void | SetInput (Acquisition::Pointer input) |
| 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 | |
| ForcePlatformsExtractor () | |
| virtual void | GenerateData () |
| Acquisition::Pointer | GetInput (int idx) |
| ForcePlatformCollection::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
Extracts force platform data from a btk::Acquisition object.
Based on the content of the metadata FORCE_PLATFORM and the analog channels stored in the given acquisition, this filter creates a collection of btk::ForcePlatform returned in the output.
Depending of the type of the force platform, the analog channels' data are transformed to take into account a calibration matrix.
The metadata FORCE_PLATFORM must be structured as the following:
- FORCE_PLATFORM:USED: single integer storing the number of force plates ;
- FORCE_PLATFORM:TYPE: 1D array of integer containing the type of force plates contained in the acquisition (see below for the supported types) ;
- FORCE_PLATFORM:CHANNEL: 2D array of integer containing of 1-based indices of the analog channels used ;
- FORCE_PLATFORM:LABELS: 1D array of strings containing the force plates' label ;
- FORCE_PLATFORM:DESCRIPTIONS: 1D array of strings containing the force plates' description ;
- FORCE_PLATFORM:ORIGIN: 2D array of reals (float) containing the coordinates of the origin of the surface of each force platform expressed in their frame ;
- FORCE_PLATFORM:CORNERS: 3D array of reals containing the coordinates of the corners. The third dimensions corresponds to the number of force platforms ;
- FORCE_PLATFORM:CAL_MATRIX: (could be optional, depend on the FP type). 3D array containing the calibration to transform the volts into forces and moments ; You can have more details on each metadata by following this link: http://www.c3d.org/HTML/theforceplatformgroup.htm
This filter is able to manage the following force platform's type:
- Type 1: 6 channels with Forces X,Y,Z Position X,Y of the COP, and Moment Z around the COP
- Type 2: 6 channels (FX, FY, FZ, MX, MY, MZ);
- Type 3: 8 channels (FZ1, FZ2, FZ3, FZ4, FX12, FX34, FY14, FY23);
- Type 4: Same as Type-2 + calibration matrix 6 (columns) by 6 (rows);
- Type 5: Same as Type-3 + calibration matrix 6 (columns) by 8 (rows).
However, some other types are not yet supported due to the lack of information and data on them:
- Type 6: 12 channels (FX[1,2,3,4], FY[1,2,3,4], FZ[1,2,3,4]) + calibration matrix 12 by 12;
- Type 7: 8 channels (FZ1, FZ2, FZ3, FZ4, FX12, FX34, FY14, FY23) + calibration matrix 8 by 8;
- Type 11: Kistler Split Belt Treadmill: 8 channels + calibration matrix 8X8 + polynomial correction matrix 2x6 + COP translation + COP rotation;
- Type 12: Gaitway treadmill: 8 channels (Fz11, Fz12, Fz13, Fz14, Fz21, Fz22, Fz23, and Fz24) + calibration matrix 8X8.
- Type 21: AMTI-Stairs: 2 force plates with 6 channels + a calibration matrix 6x6 + data to locate the corners of the 4 steps.
Member Typedef Documentation
Smart pointer associated with a const ForcePlatformsExtractor object.
Smart pointer associated with a ForcePlatformsExtractor object.
Constructor & Destructor Documentation
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protected |
Constructor. Sets the number of inputs and outputs to 1.
Member Function Documentation
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protectedvirtual |
Generates the outputs' data.
Implements btk::ProcessObject.
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inline |
Gets the input registered with this process.
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inlineprotected |
Gets the input registered with this process at the index idx.
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inline |
Gets the output created with this process.
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inlineprotected |
Gets the output created with this process at the index idx.
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protectedvirtual |
Creates a ForcePlatformCollection:Pointer object and return it as a DataObject::Pointer.
Implements btk::ProcessObject.
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inlinestatic |
Creates a smart pointer associated with a ForcePlatformsExtractor object.
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inline |
Sets the input required with this process.
