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nrt::graphics::mocap::Skeleton Class Reference

#include <nrt/Graphics/MoCap/Skeleton.H>

An articulated skeleton as a hierarchy of Bone objects.

Definition at line 133 of file Skeleton.H.

Public Member Functions

 Skeleton ()
 Default constructor. Only action is to name our root bone "root".
 
 Skeleton (std::string const &asf_filename)
 Construct by loading a .asf file.
 
void setPosture (Posture const &posture)
 Set the skeleton's pose based on the given posture.
 
size_t size () const
 Number of bones in the skeleton.
 
size_t movsize () const
 Number of movable bones in the skeleton.
 
Bonebone (std::string const &name)
 Find a bone by name, will throw if not found.
 
Eigen::Affine3d getTransform (std::string const &bonename, BoneEndType endtype) const
 Get the compounded transform from root to a given bone. More...
 
template<class Archive >
void serialize (Archive &ar)
 Serialization.
 

Public Attributes

Bone root
 Our root bone. Its name is fixed to "root".
 

Member Function Documentation

Eigen::Affine3d nrt::graphics::mocap::Skeleton::getTransform ( std::string const &  bonename,
BoneEndType  endtype 
) const

Get the compounded transform from root to a given bone.

The returned transform is either for the start or the end of the bone. Note how the start of a child bone is different from the end of its parent in that the transform for the start of the child bone already includes re-orienting along that child bone, while the end of a parent would still be oriented according to that parent.


The documentation for this class was generated from the following file: