Unterschiede

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--- modellingcomponents:elements:kinematics [2020/05/12 10:49] – [CoordinateSystem] oliver
+++ modellingcomponents:elements:kinematics [2020/10/02 10:27] – [Created trajectories and parameters] oliver
@@ Zeile 152: / Zeile 152: @@
 <Real name="A">B+C</Real>
 </code>
+======Matrix3x3======
+Calculation of a 3x3 marix trajectorie. The element creates a trajectory with the name of the element and the type of Matrix3x3.
+^ Attribute ^ Default ^ Description ^ Required ^
+^ name | | name of the element | Yes |
+^ q0 | | "w"-value of a quaternion to define the matrix elements | No |
+^ q1 | | "q1"-value of a quaternion to define the matrix elements | No |
+^ q2 | | "q2"-value of a quaternion to define the matrix elements | No |
+^ q3 | | "q3"-value of a quaternion to define the matrix elements | No |
+^ x | | columnvector defining the x-direction of the of a coordinate system, corresponding to the first column of the matrix | No |
+^ y | | columnvector defining the y-direction of the of a coordinate system, corresponding to the first column of the matrix | No |
+^ z | | columnvector defining the z-direction of the of a coordinate system, corresponding to the first column of the matrix | No |
+^ process | Planed values: stepbystep, post; The „process phase“, in which the calculations are done. | stepbystep. Not yet implemented | No |
+^ noiseAmplitude | Not yet implemented. | No |
+^ expr | | (deprecated) Mathematical formula defining a double. This attribute can be used instead of defining the formula as elements content. | |
+^ debug | false | | No |
+^ visible | | | |
+^ includes | | Comma seperated list of switches to define which trials are included. | No |
+^ excludes | | Comma seperated list of swithces to define which trials are excluded. | No |
+^ calibrateIncludes | | Not yet implemented. | No |
+^ calibrateExcludes | | Not yet implemented. | No |
+^ average (in Mean umbenennen) | | Additional calculation of the trial average. The value is saved as a parameter with the name of the element and "Average" as a suffix: <name of the element>Average | No |
+^ meanStd (in MeanStd umbennen) | | If set to true, mean average is calculated and saved in the parameter <name>MeanStd.
+^ m<ij> with i,j=0,1,2; e.g. m00, m01, ... | | defining all 9 matrix elements seperately | No |
+^ localMatrix | | Not yet implemented. | No |
 ======Mean and Standard Deviation======
 A <MeanStd> element determines mean and std of a mathematical formula over all frames of all trials defined by includes/includes.
@@ Zeile 157: / Zeile 182: @@
 ======Parameter======
 A <Parameter> element calculates time distance parameters for each trial.
+======PointSetFit======
+A <PointSetFit> element calculates rotation and translation for best fit mapping of two given point sets based on a singular value decomposition.
+==== References====
+{{pubmed>long:21869429}}
+====Attributes ====
+^ Attribute ^ Default ^ Description ^ Required ^
+^ name | | Name of the element | Yes |
+^ phase | | Type name of phases to defines the frames to be used. For each phase the mean values of the two pointset-trajectories are calculated and used as a set of points.| No |
+^ pointSet | | Name of the trajectory from which to get the point for the seconds point set. The trajectorie to define the first point set is defined by the elements content. | Yes |
+^ noise | | | No |
+^ noiseAmplitude | | | No |
+^ debug | | | No |
+^ includes | | A comma seperated list of switches to define for which trial the element is used.| No |
+^ excludes | | A comma seperated list of switches to define for which trial the element is not used.| No |
+^ calibrateIncludes | | | Yes |
+^ calibrateExcludes | | | No |
+====Examples====
+<code xml>
+<PointSetFit name="Vicon2UR5e"
+             phase="Pose"
+             pointSet="TCPURP*1000.0"
+             calibrateIncludes="kirkdefault"
+             includes="kirkdefault">TCPP</PointSetFit>
+</code>
+====Created trajectories and parameters ====
+^ Name ^ Type ^ Condition ^ trajectorie ^ Description ^
+^ <name> | Vector3d | always |  x  | p1 transformed into the least squares fittet system based on p2. ^
+^ <name>PointSet | Vector3d | always |  x  | Trajectorie which defines points of the point set 2. ^
+^ <name>R | Matrix3d | always |  | Rotation from pointset 1 to 2. ^
+^ <name>T | Vector3d | always |  | Tranlation from pointset set 1 to 2. ^