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nrt::graphics::mocap::Bone Struct Reference

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

A bone segment in a 3D graphics Skeleton.

This structure defines the property of each bone segment, including its connection to other bones, DOF (degrees of freedom), relative orientation and distance to the outboard bone.

Definition at line 68 of file Skeleton.H.

Classes

struct  dofspec
 Specification of a degree of freedom (dof) More...
 

Public Types

enum  doftype {
  dof_rx, dof_ry, dof_rz, dof_tx,
  dof_ty, dof_tz, dof_l
}
 Possible types of degrees of freedom.
 

Public Member Functions

size_t size () const
 Number of children in the sub-tree under this bone, including this bone.
 
size_t movsize () const
 Number of movable children in the sub-tree under this bone, including this bone if movable.
 
template<class Archive >
void serialize (Archive &ar)
 Serialization.
 

Public Attributes

std::list< Bonechildren
 List of chlidren bones in the (loop-free) hierarchy.
 
Eigen::Vector3d dir
 Unit vector describes the direction from local origin to the origin of the child bone. More...
 
double length
 Bone length.
 
Eigen::Vector3d axis
 Orientation of each bone's local coordinate system as specified in ASF file (axis field)
 
double aspx
 aspect ratio of bone shape
 
double aspy
 
std::vector< dofspecdof
 Vector of types, numerical values, and limits for each of our existing dof. More...
 
std::string name
 Bone name.
 
Eigen::Affine3d rot_parent_current
 Rotation matrix from the local coordinate of this bone to the local coordinate system of it's parent.
 

Member Data Documentation

Eigen::Vector3d nrt::graphics::mocap::Bone::dir

Unit vector describes the direction from local origin to the origin of the child bone.

Note
Notice: stored in local coordinate system of the bone

Definition at line 75 of file Skeleton.H.

Referenced by serialize().

std::vector<dofspec> nrt::graphics::mocap::Bone::dof

Vector of types, numerical values, and limits for each of our existing dof.

The order in which the DOFs are listed here is what is assumed when we read in .AMC motion capture files for this skeleton, and thus also what is assumed in Posture data.

Definition at line 105 of file Skeleton.H.

Referenced by serialize().


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