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--- modellingcomponents:elements:kinematics [2021/09/01 18:53] – [Attributes] oliver
+++ modellingcomponents:elements:kinematics [2022/07/18 23:18] (aktuell) – [Created parameters] oliver
@@ Zeile 130: / Zeile 130: @@
 ======GlobalCoordinateSystem======
 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!
 ==== Attributes ====
@@ Zeile 144: / Zeile 142: @@
 ^ <name> | Matrix3d | Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix) |
 ^ <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 ====
-^ Attribute ^ Description ^ Required ^
-^ name | Name of the element | Yes |
-^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes |
-^ Alpha| Denavit-Hartenberg parameter | Yes |
-^ Theta| Denavit-Hartenberg parameter | Yes |
-^ D | Denavit-Hartenberg parameter | Yes |
-^ R | Denavit-Hartenberg parameter | Yes |
@@ Zeile 385: / 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 413: / 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>