Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:kinematics [2021/04/01 12:26] – [Attributes] oliver
+++ modellingcomponents:elements:kinematics [2022/07/18 23:18] (aktuell) – [Created parameters] oliver
@@ Zeile 50: / Zeile 50: @@
 ^ FirstAxis | | Defines the first axis of the frame. This can be used by the method 1 based on cross products or by the method 4 based on three independend axes to define a non orthogonal system | Yes | 1, 4 |
 ^ DefiningVector | | The crossproduct between this vector and FirstAxis defines the second axis. The third axis is defined by the crossproduct between FirstAxis and this second axis. | Yes | 1 |
-^ orientation | xyz | Reihenfolge der Achsen. | No | 1 |
+^ orientation | xyz | Orientation of the axes. xyz: first axis is x , second is y, third is z. Be careful in all cases a right handed coordinate system ist constructed. That means zxy is righthaned corresponding to the definition but zyx defines a left handed coordinates system corresponding to its definition. In this case by automated sign changes a righthanded coordinaten system is build automatically. | No | 1 |
 ^ Position | | Origin of the coordinate system defined in coordinates of the global laboratory cartesian system. If this coordinate system is defined by calibration or by rotation of a reference system this attribute is optional and overwrites the origin defined by calibration. | Yes | 1, 4 |
 ^ Rotation | | Defines a 3x3 rotation matrix. Its colums defines the three axes of the coordinate system | No | 5 |
@@ Zeile 108: / Zeile 108: @@
 ^ <name>Position | Vector3d | Origin of the coordinate system |
+If calibration is used the following parameters are created:
+====Generated parameters====
+^ Name ^ Type ^ Description ^
+^ <name>Rotation | Matrix3d | Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix) from the calibration trial.|
+^ <name>Origin| Vector3d | Origin of the coordinate system of the calibration trial |
-======GlobalCoordinateSystem======
+Simple example without usage of calibration:
-This element is used to define a cartesian coordinate system based on a given coordinate system in local coordinates of a given reference coordinate system.
-Not yet implemented!
+<code xml>
+<LocalCoordinateSystem name="TCPA"
+                    referenceCoordinateSystem="TCP"
+                    coordinateSystem="TCPDH1"
+                    includes="kirkdefault"/>
+</code>
-==== Attributes ====
+the above code snipset defines a coordinate system by tranforming the given coordinate system "TCPDH1" into the reference coordinate system "TCP". The result coordinate system is then given in coordinates of the reference coordinate system.
-^ Attribute ^ Description ^ Required ^
-^ name | Name of the element | Yes |
-^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes |
-^ localCoordinateSystem | Defines a local coordinate system which is based on the given reference coordinate system. This is is transformed into the global system.| Yes |
-====Generated trajectories ====
-^ Name ^ Type ^ Description ^
+======GlobalCoordinateSystem======
-^ <name> | Matrix3d | Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix) |
+This element is used to define a cartesian coordinate system based on a given coordinate system in local coordinates of a given reference coordinate system.
-^ <name>Position | Vector3d | Origin of the coordinate system |
-======ForwardKinematicDH======
-This element defines a cartesian coordinate system based on a parent coordinate system and Denavit-Hartenberg parameters.
 ==== Attributes ====
@@ Zeile 134: / Zeile 136: @@
 ^ name | Name of the element | Yes |
 ^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes |
-^ Alpha| Denavit-Hartenberg parameter | Yes |
+^ localCoordinateSystem | Defines a local coordinate system which is based on the given reference coordinate system. This is is transformed into the global system.| Yes |
-^ Theta| Denavit-Hartenberg parameter | Yes |
-^ D | Denavit-Hartenberg parameter | Yes |
-^ R | Denavit-Hartenberg parameter | Yes |
 ====Generated trajectories ====
@@ Zeile 144: / Zeile 143: @@
 ^ <name>Position | Vector3d | Origin of the coordinate system |
-**Example**
-<code xml>
-<ForwardKinematicDH name="BaseUR"
-                    referenceCoordinateSystem="GLOBE"
-                    Alpha="0.5"
-                    Theta="Angle0"
-                    D="0.145"
-                    R="0.234"/>
-</code>
-An alternative to use this element is to use the corresponding function:
-<code xml>
-<CoordinateSystem name="BaseUR"
-                  Pose="dhm(Angle0, DH_alpha0, DH_d0, DH_r0)"/>
-</code>
-======ForwardKinematicEulerCardan======
-==== Attributes ====
-^ Attribute ^ Description ^ Required ^
-^ name | Name of the element | Yes |
-^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes |
-^ EulerCardanAngles| Formula that defines a 3-tuple e.g. vec(1.0,1.0,1.0) with a sequence of three angles | Yes |
-^ rotationOrder | rotation order | No |
-^ Position | Origin of result coordinate system | Yes |
@@ Zeile 183: / Zeile 159: @@
 ^ localPoint | | Instead of defining the point by coordinates in the laboratory/global system, it is possible to define the point by arbitrary local coordinates. The global coordinates of the point are then calculated by transforming with the given coordinate system. Note: This attribute needs the use of the attribute coordinateSystem. |  No  |
 ^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut "localPoint" it defines the corresponding coordinate system. 2. If calibration is used, than for static trial which is defined by switches given with the attributes calibrateIncludes/calibrateExcludes the point is transformed in local coordinates of the coordinate system which is given with this element. For all other trials the local coordinates are back transformed to the global coordinates using the current value of the coordinate system defined by this attribute. |  No  |
-^ phase |  | If the calibration is used but the trial is not static-only, set this attribute to a phase type name to use only frames which are included into the phase. If there are more than one calibration trial, only the first one is used. This behavoir should be changed to use all available calibration trials. |  No  |
+^ phase |  | If the calibration is used, but the trial is no static-only one, set this attribute to a phase type name to use only frames, which are included into the phase. This allows to use only static frames. If there are more than one calibration trial, only the first one is used. This behavoir should be changed to use all available calibration trials. |  No  |
 ==== Generic Attributes ====
@@ Zeile 265: / Zeile 241: @@
 ^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut "localPoint" it defines the corresponding coordinate system. 2. If calibration is used, than for static trial which is defined by switches given with the attributes calibrateIncludes/calibrateExcludes the point is transformed in local coordinates of the coordinate system which is given with this element. For all other trials the local coordinates are back transformed to the global coordinates using the current value of the coordinate system defined by this attribute. | No ^
-**Note:** The Parameter <name>Local is created, if calibration is used. It caontains the mean vector of the calibration trial in the coordinates of the given coordinate system.
+**Note:** The Parameter <name>Local is created, if calibration is used. It contains the mean vector of the calibration trial in the coordinates of the given coordinate system.
 **Examples**
@@ Zeile 271: / Zeile 247: @@
 <code xml>
     <Vector name="A"
-     coordinateSystem="Thorax"
+            coordinateSystem="Thorax"
-     calibrateIncludes="static">B+C</Vector>
+            calibrateIncludes="static">B+C</Vector>
 </code>
@@ Zeile 396: / Zeile 372: @@
 </code>
-In the case the two timeseries (TCPUR5e and TCPP) are not perfectly sychronized, especially a delay is between them the following expamples implements the usage of phases seperately defined for each timeeries. The phases are used only if in a trial the cound of phases for each of the two timeseries contains the same count.
+In the case the two timeseries (TCPUR5e and TCPP) are not perfectly sychronized, especially a delay is between them the following expamples implements the usage of phases seperately defined for each timeeries. The phases are used only, if in a trial the count of phases for each of the two timeseries is equal.
 <code xml>
@@ Zeile 424: / Zeile 400: @@
 ^ <name>Orientation | Matrix3d | Orientation of the coordinatesystem the points of pointset 2 are given in. The orientation is given in coordinates the points of the first pointset are given in. ^
 ^ <name>Origin | Vector3d | Origin of the coordinatesystem, the points of pointset 2 are given in. The origin is given in coordinates the points of the first pointset are given in. ^
+These parameters are created for non calibration files to make them availble in furher formula, e.g.:
+<code xml>
+<CoordinateSystem name="Mediapipe2ViconFit"
+                  Position="Mediapipe2ViconOrigin*1.0"
+                  Rotation="Mediapipe2ViconOrientation*1.0"
+                  excludes="static_calibrate,locator,dynamic_calibrate,calibrate_mediapipe"/>
+</code>