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modellingcomponents:elements:kinematics

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modellingcomponents:elements:kinematics [2020/02/07 12:56]
oliver [Point]
modellingcomponents:elements:kinematics [2020/09/07 09:58] (aktuell)
oliver [Created trajectories and parameters]
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 ======CoordinateSystem====== ======CoordinateSystem======
-This element ​mostly ​is used to define a cartesian coordinate system, based on two given vectors using crossproducts,​ or by rotating a reference coordinate system by given angles about its axes. The element creates a trajectory with the name of the element ​and the type of a 3d-Vector of double values.+This element is used to define a cartesian coordinate system, based on two given vectors using crossproducts,​ or by rotating a reference coordinate system by given angles about its axes. The element creates a trajectory with the name of the element.
  
-The given FirstAxis stays as first axis. The cross product between DefiningVector and the vector defined by FirstAxis defines the second axis. The third axis is defined by the cross product between the first axis and the second axis. This behavoir corresponds to Vicons ​BodyBuilder! ​+The given FirstAxis stays as first axis. The cross product between DefiningVector and the vector defined by FirstAxis defines the second axis. The third axis is defined by the cross product between the first axis and the second axis. This behavoir corresponds to the software ​BodyBuilder ​of the company Vicon
  
 The element can be used to create coordinate systems also by other ways, e.g. by rotating a given coordinate system around an axis. Also non orthogonal axes systems can be defined or a calibration can be used to fix a coordinate system on a given one. The element can be used to create coordinate systems also by other ways, e.g. by rotating a given coordinate system around an axis. Also non orthogonal axes systems can be defined or a calibration can be used to fix a coordinate system on a given one.
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 ^ <​name>​_y | Vector3d | second column of the matrix with name <​name>​| | | X | always |  ^ <​name>​_y | Vector3d | second column of the matrix with name <​name>​| | | X | always | 
 ^ <​name>​_z | Vector3d | third column of the matrix with name <​name>​| | | X | always |  ^ <​name>​_z | Vector3d | third column of the matrix with name <​name>​| | | X | always | 
-^ <​name>​Position | Vector3d | Origin of the coordinate system | | | X | always ​+^ <​name>​Position | Vector3d | Origin of the coordinate system | | | X | only if it is not defined by a constant expression, e.g. vec(0.0,​0.0,​0.0).) ​
 ^ <​name>​_XLocal | Vector3d | | X | | | after calibration |  ^ <​name>​_XLocal | Vector3d | | X | | | after calibration | 
 ^ <​name>​_YLocal | Vector3d | | X | | | after calibration |  ^ <​name>​_YLocal | Vector3d | | X | | | after calibration | 
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 ^ calibrateIncludes | | | No | ^ calibrateIncludes | | | No |
 ^ calibrateExcludes | | | No | ^ calibrateExcludes | | | No |
-^ average | | 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 |+^ average | false 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, if this attribute is set to "​true"​. ​| No |
  
 =====Examples==== =====Examples====
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 <Real name="​A">​B+C</​Real>​ <Real name="​A">​B+C</​Real>​
 </​code>​ </​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====== ======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. ​ A <​MeanStd>​ element determines mean and std of a mathematical formula over all frames of all trials defined by includes/​includes. ​
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 ======Parameter====== ======Parameter======
 A <​Parameter>​ element calculates time distance parameters for each trial. 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>​P2 | 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. ^
modellingcomponents/elements/kinematics.1581076591.txt.gz · Zuletzt geändert: 2020/02/07 12:56 von oliver