#include <IMU.h>

Inheritance diagram for biorbd::rigidbody::IMU:

Public Member Functions
	IMU (bool isTechnical=true, bool isAnatomical=true)
	Construct inertial measurement unit. More...

	IMU (const biorbd::utils::RotoTransNode &RotoTrans, bool isTechnical=true, bool isAnatomical=true)
	Construct inertial measurement unit data. More...

biorbd::rigidbody::IMU	DeepCopy () const
	Deep copy of the IMU data. More...

void	DeepCopy (const biorbd::rigidbody::IMU &other)
	Deep copy if the IMU data. More...

bool	isTechnical () const
	Return if the IMU is technical. More...

bool	isAnatomical () const
	Return if the IMU is anatomical. More...

Public Member Functions inherited from biorbd::utils::RotoTransNode
	RotoTransNode ()
	Construct a RotoTransNode.

	RotoTransNode (const biorbd::utils::RotoTrans &rt, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a RotoTransNode. More...

biorbd::utils::RotoTransNode	DeepCopy () const
	Deep copy of a RotoTransNode. More...

void	DeepCopy (const biorbd::utils::RotoTransNode &other)
	Deep copy of a RotoTransNode into another RotoTransNode. More...

void	operator= (const biorbd::utils::RotoTrans &other)
	operator= Matrix multiplication More...

biorbd::utils::RotoTrans	operator* (const biorbd::utils::RotoTransNode &other) const
	operator* Matrix multiplication More...

Public Member Functions inherited from biorbd::utils::RotoTrans
	RotoTrans (const RigidBodyDynamics::Math::Matrix4d &matrix=RigidBodyDynamics::Math::Matrix4d::Identity())
	Construct RotoTrans matrix. More...

	RotoTrans (const biorbd::utils::Scalar &v00, const biorbd::utils::Scalar &v01, const biorbd::utils::Scalar &v02, const biorbd::utils::Scalar &v03, const biorbd::utils::Scalar &v10, const biorbd::utils::Scalar &v11, const biorbd::utils::Scalar &v12, const biorbd::utils::Scalar &v13, const biorbd::utils::Scalar &v20, const biorbd::utils::Scalar &v21, const biorbd::utils::Scalar &v22, const biorbd::utils::Scalar &v23, const biorbd::utils::Scalar &v30, const biorbd::utils::Scalar &v31, const biorbd::utils::Scalar &v32, const biorbd::utils::Scalar &v33)
	RotoTrans Construct a RotoTrans matrix by elements. More...

	RotoTrans (const biorbd::utils::Rotation &rot)
	Contruct Rototrans. More...

	RotoTrans (const biorbd::utils::Rotation &rot, const biorbd::utils::Vector3d &trans)
	Contruct Rototrans. More...

	RotoTrans (const biorbd::utils::Vector &rotation, const biorbd::utils::Vector3d &translation, const biorbd::utils::String &rotationSequence)
	Contruct Rototrans. More...

	RotoTrans (const RigidBodyDynamics::Math::SpatialTransform &st)
	Contruct Rototrans. More...

biorbd::utils::Vector3d	axe (unsigned int idx) const
	Get a particular axis of the rotation matrix. More...

biorbd::utils::RotoTrans	transpose () const
	Return the tranposed matrix. More...

biorbd::utils::Vector3d	trans () const
	Return the translation vector. More...

biorbd::utils::Rotation	rot () const
	Return the rotation matrix. More...

Public Member Functions inherited from biorbd::utils::Node
	Node ()
	Construct Node.

	Node (const biorbd::utils::Node &other)
	Construct Node from another node. More...

	Node (const biorbd::utils::String &name)
	Construct Node. More...

	Node (const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct Node. More...

virtual	~Node ()
	Destroy class properly.

void	DeepCopy (const biorbd::utils::Node &other)
	Deep copy of the node in another node. More...

void	setName (const biorbd::utils::String &name)
	Set the name of the node. More...

const biorbd::utils::String &	name () const
	Return the name of the node.

const biorbd::utils::String &	parent () const
	Return the parent name of the node.

void	setParent (const biorbd::utils::String &name)
	Set the parent name of the node. More...

biorbd::utils::NODE_TYPE	typeOfNode () const
	Return the type of node.

Protected Attributes
std::shared_ptr< bool >	m_technical
	If a IMU is a technical IMU.

std::shared_ptr< bool >	m_anatomical
	It IMU is a anatomical IMU.

Protected Attributes inherited from biorbd::utils::Node
std::shared_ptr< biorbd::utils::String >	m_name
	The name of the node.

std::shared_ptr< biorbd::utils::String >	m_parentName
	The parent name of the node.

std::shared_ptr< biorbd::utils::NODE_TYPE >	m_typeOfNode
	The type of the node.

Additional Inherited Members
Static Public Member Functions inherited from biorbd::utils::RotoTrans
static biorbd::utils::RotoTrans	fromMarkers (const biorbd::rigidbody::NodeSegment &origin, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis1markers, const std::pair< biorbd::rigidbody::NodeSegment, biorbd::rigidbody::NodeSegment > &axis2markers, const std::pair< biorbd::utils::String, biorbd::utils::String > &axesNames, const biorbd::utils::String &axisToRecalculate)
	fromMarkers Creates a system of axes from two axes and an origin defined by markers More...

static biorbd::utils::RotoTrans	combineRotAndTrans (const biorbd::utils::Rotation &rot, const biorbd::utils::Vector3d &trans)
	Set the RotoTrans from a rotation and a translation. More...

static biorbd::utils::RotoTrans	fromSpatialTransform (const RigidBodyDynamics::Math::SpatialTransform &st)
	set the RotoTrans from a spatial transform More...

static biorbd::utils::RotoTrans	fromEulerAngles (const biorbd::utils::Vector &rot, const biorbd::utils::Vector3d &trans, const biorbd::utils::String &seq)
	Create a RotoTrans from Euler angles. More...

static biorbd::utils::Vector	toEulerAngles (const biorbd::utils::RotoTrans &rt, const biorbd::utils::String &seq)
	Return extracted angles from the rotation matrix into Euler angles using the provided sequence. More...

static biorbd::utils::RotoTrans	mean (const std::vector< biorbd::utils::RotoTrans > &rt)
	Get the mean of the 4x4 matrices. More...

Protected Member Functions inherited from biorbd::utils::RotoTransNode
void	setType ()
	Set the type to ROTOTRANS.

Protected Member Functions inherited from biorbd::utils::RotoTrans
RigidBodyDynamics::Math::Vector4d	expand3dTo4d (const biorbd::utils::Vector3d &v1)
	Expand 3D vector to 4D (padding with an extra 1) More...

void	checkUnitary ()
	Check if the RotoTrans has a unitary matrix of rotation and the last row is (0, 0, 0, 1) More...

Detailed Description

Class IMU.

Definition at line 21 of file IMU.h.

Constructor & Destructor Documentation

◆ IMU() [1/2]

biorbd::rigidbody::IMU::IMU	(	bool	isTechnical = `true`,
		bool	isAnatomical = `true`
	)

Construct inertial measurement unit.

Parameters

isTechnical	True if the IMU is a technical IMU
isAnatomical	True if the IMU is an anatomical IMU

Definition at line 6 of file IMU.cpp.

◆ IMU() [2/2]

biorbd::rigidbody::IMU::IMU	(	const biorbd::utils::RotoTransNode &	RotoTrans,
		bool	isTechnical = `true`,
		bool	isAnatomical = `true`
	)

Construct inertial measurement unit data.

Parameters

RotoTrans	The RotoTrans matrix attaching the IMU
isTechnical	True if the IMU is a technical IMU
isAnatomical	True if the IMU is an anatomical IMU

Definition at line 16 of file IMU.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::rigidbody::IMU biorbd::rigidbody::IMU::DeepCopy ( ) const

Deep copy of the IMU data.

Returns: Copy of the IMU data

Definition at line 52 of file IMU.cpp.

◆ DeepCopy() [2/2]

void biorbd::rigidbody::IMU::DeepCopy ( const biorbd::rigidbody::IMU & other )

Deep copy if the IMU data.

Parameters

other The IMU to copy

Definition at line 59 of file IMU.cpp.

◆ isAnatomical()

bool biorbd::rigidbody::IMU::isAnatomical ( ) const

Return if the IMU is anatomical.

Returns: If the IMU is anatomical

Definition at line 66 of file IMU.cpp.

◆ isTechnical()

bool biorbd::rigidbody::IMU::isTechnical ( ) const

Return if the IMU is technical.

Returns: If the IMU is technical

Definition at line 71 of file IMU.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IMU() [1/2]

◆ IMU() [2/2]

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ isAnatomical()

◆ isTechnical()