#include <IMUs.h>

Inheritance diagram for biorbd::rigidbody::IMUs:

Public Member Functions
	IMUs ()
	Construct inertial measurement units set.

	IMUs (const biorbd::rigidbody::IMUs &other)
	Construct inertial measurement units set from another set. More...

virtual	~IMUs ()
	Destroy the class properly.

biorbd::rigidbody::IMUs	DeepCopy () const
	Deep copy of the inertial measurement units data. More...

void	DeepCopy (const biorbd::rigidbody::IMUs &other)
	Deep copy the inertial measurement units data. More...

void	addIMU (bool technical=true, bool anatomical=true)
	Add a new inertial measurement unit to the set. More...

void	addIMU (const biorbd::utils::RotoTransNode &RotoTrans, bool technical=true, bool anatomical=true)
	Add a new inertial measurement unit to the set. More...

unsigned int	nbIMUs () const
	Return the number of inertial measurement units (IMU) in the set. More...

std::vector< biorbd::utils::String >	IMUsNames ()
	Return the names of the inertial measurement units (IMU) More...

std::vector< biorbd::utils::String >	technicalIMUsNames ()
	Return the names of the technical inertial measurement units (IMU) More...

std::vector< biorbd::utils::String >	anatomicalIMUsNames ()
	Return the names of the anatomical inertial measurement units (IMU) More...

const std::vector< biorbd::rigidbody::IMU > &	IMU () const
	Return all the IMU in the local reference of the segment. More...

std::vector< biorbd::rigidbody::IMU >	IMU (const biorbd::utils::String &segmentName)
	Return all the inertial measurement units (IMU) of a segment. More...

const biorbd::rigidbody::IMU &	IMU (unsigned int idx)
	Return the inertial measurement unit (IMU) of a specified index. More...

std::vector< biorbd::rigidbody::IMU >	IMU (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Compute and return all the inertial measurement units (IMU) at the position given by Q. More...

biorbd::rigidbody::IMU	IMU (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool updateKin=true)
	Compute and return one inertial meausrement unit (IMU) at the position given by Q. More...

std::vector< biorbd::rigidbody::IMU >	segmentIMU (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool updateKin=true)
	Return all the inertial measurement units (IMU) on a specified segment. More...

unsigned int	nbTechIMUs ()
	Return the number of technical inertial measurement units (IMU) More...

unsigned int	nbAnatIMUs ()
	Return the number of anatomical inertial measurement units (IMU) More...

std::vector< biorbd::rigidbody::IMU >	technicalIMU (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return all the technical inertial measurement units (IMU) More...

std::vector< biorbd::rigidbody::IMU >	technicalIMU ()
	Return all the technical inertial measurement units (IMU) in their respective segment local reference frame. More...

std::vector< biorbd::rigidbody::IMU >	anatomicalIMU (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return all the anatomical inertial measurement units (IMU) More...

std::vector< biorbd::rigidbody::IMU >	anatomicalIMU ()
	Return all the anatomical inertial measurement units (IMU) in their respective segment local reference frame. More...

std::vector< biorbd::utils::Matrix >	IMUJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the jacobian of the inertial measurement units (IMU) More...

std::vector< biorbd::utils::Matrix >	TechnicalIMUJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the jacobian of the technical inertial measurement units (IMU) More...

Protected Member Functions
std::vector< biorbd::utils::Matrix >	IMUJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin, bool lookForTechnical)
	Compute and return the jacobian of all the inertial measurement units (IMU) More...

Protected Attributes
std::shared_ptr< std::vector< biorbd::rigidbody::IMU > >	m_IMUs
	All the inertial Measurement Units.

Detailed Description

Hold a set of IMUs.

Definition at line 21 of file IMUs.h.

Constructor & Destructor Documentation

◆ IMUs()

biorbd::rigidbody::IMUs::IMUs ( const biorbd::rigidbody::IMUs & other )

Construct inertial measurement units set from another set.

Parameters

other The other IMU set

Definition at line 20 of file IMUs.cpp.

Member Function Documentation

◆ addIMU() [1/2]

void biorbd::rigidbody::IMUs::addIMU	(	bool	technical = `true`,
		bool	anatomical = `true`
	)

Add a new inertial measurement unit to the set.

Parameters

technical	True if the IMU is technical
anatomical	True if the IMU is anatomical

Definition at line 44 of file IMUs.cpp.

◆ addIMU() [2/2]

void biorbd::rigidbody::IMUs::addIMU	(	const biorbd::utils::RotoTransNode &	RotoTrans,
		bool	technical = `true`,
		bool	anatomical = `true`
	)

Add a new inertial measurement unit to the set.

Parameters

RotoTrans	The RotaTrans of the IMU
technical	True if the IMU is technical
anatomical	True if the IMU is anatomical

Definition at line 52 of file IMUs.cpp.

◆ anatomicalIMU() [1/2]

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::anatomicalIMU ( )

Return all the anatomical inertial measurement units (IMU) in their respective segment local reference frame.

Returns: All the anatomical IMU

Definition at line 169 of file IMUs.cpp.

◆ anatomicalIMU() [2/2]

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::anatomicalIMU	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return all the anatomical inertial measurement units (IMU)

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: all the anatomical IMU

Definition at line 151 of file IMUs.cpp.

◆ anatomicalIMUsNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::IMUs::anatomicalIMUsNames ( )

Return the names of the anatomical inertial measurement units (IMU)

Returns: The names of the anatomical IMU

Definition at line 291 of file IMUs.cpp.

◆ DeepCopy() [1/2]

biorbd::rigidbody::IMUs biorbd::rigidbody::IMUs::DeepCopy ( ) const

Deep copy of the inertial measurement units data.

Returns: A copy of the inertial measurement units data

Definition at line 30 of file IMUs.cpp.

◆ DeepCopy() [2/2]

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

Deep copy the inertial measurement units data.

Parameters

other The IMU data to copy

Definition at line 37 of file IMUs.cpp.

◆ IMU() [1/5]

const std::vector< biorbd::rigidbody::IMU > & biorbd::rigidbody::IMUs::IMU ( ) const

Return all the IMU in the local reference of the segment.

Returns: All the inertial measurement units in local reference frame

Definition at line 67 of file IMUs.cpp.

◆ IMU() [2/5]

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::IMU	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Compute and return all the inertial measurement units (IMU) at the position given by Q.

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: All the IMU at the position given by Q

Definition at line 87 of file IMUs.cpp.

◆ IMU() [3/5]

biorbd::rigidbody::IMU biorbd::rigidbody::IMUs::IMU	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	updateKin = `true`
	)

Compute and return one inertial meausrement unit (IMU) at the position given by Q.

Parameters

Q	The generalized coordinates
idx	The index of the IMU in the set
updateKin	If the model should be updated

Returns: The IMU of index idx at the position given by Q

Definition at line 105 of file IMUs.cpp.

◆ IMU() [4/5]

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::IMU ( const biorbd::utils::String & segmentName )

Return all the inertial measurement units (IMU) of a segment.

Parameters

segmentName The name of the segment to return the IMU

Returns: All the IMU of attached to the segment

Definition at line 72 of file IMUs.cpp.

◆ IMU() [5/5]

const biorbd::rigidbody::IMU & biorbd::rigidbody::IMUs::IMU ( unsigned int idx )

Return the inertial measurement unit (IMU) of a specified index.

Parameters

idx	The index of the IMU in the set

Returns: IMU of idx i

Definition at line 81 of file IMUs.cpp.

◆ IMUJacobian() [1/2]

std::vector< biorbd::utils::Matrix > biorbd::rigidbody::IMUs::IMUJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin,
		bool	lookForTechnical
	)

protected

Compute and return the jacobian of all the inertial measurement units (IMU)

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated
lookForTechnical	If true, only computes for the technical IMU

Definition at line 218 of file IMUs.cpp.

◆ IMUJacobian() [2/2]

std::vector< biorbd::utils::Matrix > biorbd::rigidbody::IMUs::IMUJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return the jacobian of the inertial measurement units (IMU)

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: The jacobien of the IMU

Definition at line 201 of file IMUs.cpp.

◆ IMUsNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::IMUs::IMUsNames ( )

Return the names of the inertial measurement units (IMU)

Returns: The names of the IMU

Definition at line 271 of file IMUs.cpp.

◆ nbAnatIMUs()

unsigned int biorbd::rigidbody::IMUs::nbAnatIMUs ( )

Return the number of anatomical inertial measurement units (IMU)

Returns: The number of anatomical IMU

Definition at line 260 of file IMUs.cpp.

◆ nbIMUs()

unsigned int biorbd::rigidbody::IMUs::nbIMUs ( ) const

Return the number of inertial measurement units (IMU) in the set.

Returns: The number of IMU

Definition at line 60 of file IMUs.cpp.

◆ nbTechIMUs()

unsigned int biorbd::rigidbody::IMUs::nbTechIMUs ( )

Return the number of technical inertial measurement units (IMU)

Returns: The number of technical IMU

Definition at line 249 of file IMUs.cpp.

◆ segmentIMU()

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::segmentIMU	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	updateKin = `true`
	)

Return all the inertial measurement units (IMU) on a specified segment.

Parameters

Q	The generalized coordinates
idx	The index of the segment
updateKin	If the model should be updated

Returns: All the IMU on the segment of index idx

Definition at line 178 of file IMUs.cpp.

◆ technicalIMU() [1/2]

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::technicalIMU ( )

Return all the technical inertial measurement units (IMU) in their respective segment local reference frame.

Returns: All the technical IMU

Definition at line 141 of file IMUs.cpp.

◆ technicalIMU() [2/2]

std::vector< biorbd::rigidbody::IMU > biorbd::rigidbody::IMUs::technicalIMU	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return all the technical inertial measurement units (IMU)

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: all the technical IMU

Definition at line 123 of file IMUs.cpp.

◆ TechnicalIMUJacobian()

std::vector< biorbd::utils::Matrix > biorbd::rigidbody::IMUs::TechnicalIMUJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return the jacobian of the technical inertial measurement units (IMU)

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: The jacobian of the technical IMU

Definition at line 209 of file IMUs.cpp.

◆ technicalIMUsNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::IMUs::technicalIMUsNames ( )

Return the names of the technical inertial measurement units (IMU)

Returns: The names of the technical IMU

Definition at line 280 of file IMUs.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IMUs()

Member Function Documentation

◆ addIMU() [1/2]

◆ addIMU() [2/2]

◆ anatomicalIMU() [1/2]

◆ anatomicalIMU() [2/2]

◆ anatomicalIMUsNames()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ IMU() [1/5]

◆ IMU() [2/5]

◆ IMU() [3/5]

◆ IMU() [4/5]

◆ IMU() [5/5]

◆ IMUJacobian() [1/2]

◆ IMUJacobian() [2/2]

◆ IMUsNames()

◆ nbAnatIMUs()

◆ nbIMUs()

◆ nbTechIMUs()

◆ segmentIMU()

◆ technicalIMU() [1/2]

◆ technicalIMU() [2/2]

◆ TechnicalIMUJacobian()

◆ technicalIMUsNames()