Holder for the marker set. More...

#include <Markers.h>

Inheritance diagram for biorbd::rigidbody::Markers:

Public Member Functions
	Markers ()
	Construct a marker set.

	Markers (const biorbd::rigidbody::Markers &other)
	Construct markers from another marker set. More...

virtual	~Markers ()
	Destroy class properly.

biorbd::rigidbody::Markers	DeepCopy () const
	Deep copy of the markers. More...

void	DeepCopy (const biorbd::rigidbody::Markers &other)
	Deep copy of the markers. More...

void	addMarker (const biorbd::rigidbody::NodeSegment &pos, const biorbd::utils::String &name, const biorbd::utils::String &parentName, bool technical, bool anatomical, const biorbd::utils::String &axesToRemove, int id=-1)
	Add a marker to the set. More...

const biorbd::rigidbody::NodeSegment &	marker (unsigned int idx) const
	Return the marker of index idx. More...

std::vector< biorbd::rigidbody::NodeSegment >	marker (const biorbd::utils::String &name) const
	Return the markers on a segment. More...

std::vector< biorbd::utils::String >	markerNames () const
	Return the names of all the markers. More...

std::vector< biorbd::utils::String >	technicalMarkerNames () const
	Return the names of all the technical markers. More...

std::vector< biorbd::utils::String >	anatomicalMarkerNames () const
	Return the names of all the anatomical markers. More...

biorbd::rigidbody::NodeSegment	marker (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::NodeSegment &node, bool removeAxis=true, bool updateKin=true)
	Compute and return the position of a marker at given Q in the global reference frame. More...

biorbd::rigidbody::NodeSegment	marker (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool removeAxis=true, bool updateKin=true)
	Compute and return the position of the marker of index idx at given Q in the global reference frame. More...

biorbd::rigidbody::NodeSegment	marker (unsigned int idx, bool removeAxis)
	Return a marker of index idx in the marker set. More...

std::vector< biorbd::rigidbody::NodeSegment >	markers (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxis=true, bool updateKin=true)
	Return all the markers at a given Q in the global reference frame. More...

std::vector< biorbd::rigidbody::NodeSegment >	markers (bool removeAxis=true)
	Return all the markers in their respective parent reference frame. More...

biorbd::rigidbody::NodeSegment	markerVelocity (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, unsigned int idx, bool removeAxis=true, bool updateKin=true)
	Return the velocity of a marker. More...

std::vector< biorbd::rigidbody::NodeSegment >	markersVelocity (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, bool removeAxis=true, bool updateKin=true)
	Return the velocity of all the markers. More...

std::vector< biorbd::rigidbody::NodeSegment >	technicalMarkers (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxis=true, bool updateKin=true)
	Return all the technical markers at a given Q in the global reference frame. More...

std::vector< biorbd::rigidbody::NodeSegment >	technicalMarkers (bool removeAxis=true)
	Return the technical markers in their respective parent reference frame. More...

std::vector< biorbd::rigidbody::NodeSegment >	anatomicalMarkers (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxis=true, bool updateKin=true)
	Return all the anatomical markers at a given Q in the global reference frame. More...

std::vector< biorbd::rigidbody::NodeSegment >	anatomicalMarkers (bool removeAxis=true)
	Return the anatomical markers in their respective parent reference frame. More...

std::vector< biorbd::rigidbody::NodeSegment >	segmentMarkers (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool removeAxis=true, bool updateKin=true)
	Return all the markers of the segment idx at a given Q in the global reference frame. More...

unsigned int	nbMarkers () const
	Return the number of markers. More...

unsigned int	nbMarkers (unsigned int idxSegment) const
	Return the number of markers on the segment idxSegment. More...

unsigned int	nbTechnicalMarkers ()
	Return the number of technical markers. More...

unsigned int	nbTechnicalMarkers (unsigned int idxSegment)
	Return the number of technical markers on the segment idxSegment. More...

unsigned int	nbAnatomicalMarkers ()
	Return the number of anatomical markers. More...

std::vector< biorbd::utils::Matrix >	markersJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxis=true, bool updateKin=true)
	Return the jacobian of the markers. More...

std::vector< biorbd::utils::Matrix >	technicalMarkersJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxis=true, bool updateKin=true)
	Return the jacobian of the technical markers. More...

biorbd::utils::Matrix	markersJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::utils::String &parentName, const biorbd::rigidbody::NodeSegment &p, bool updateKin)
	Return the jacobian of a chosen marker. More...

bool	inverseKinematics (const std::vector< biorbd::rigidbody::NodeSegment > &markers, const biorbd::rigidbody::GeneralizedCoordinates &Qinit, biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxes=true)
	Performs an inverse kinematics. More...

Protected Member Functions
std::vector< biorbd::utils::Matrix >	markersJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool removeAxis, bool updateKin, bool lookForTechnical)
	Compute the jacobian of the markers. More...

Protected Attributes
std::shared_ptr< std::vector< biorbd::rigidbody::NodeSegment > >	m_marks
	The markers.

Detailed Description

Holder for the marker set.

Definition at line 22 of file Markers.h.

Constructor & Destructor Documentation

◆ Markers()

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

Construct markers from another marker set.

Parameters

other The other marker set

Definition at line 21 of file Markers.cpp.

Member Function Documentation

◆ addMarker()

void biorbd::rigidbody::Markers::addMarker	(	const biorbd::rigidbody::NodeSegment &	pos,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName,
		bool	technical,
		bool	anatomical,
		const biorbd::utils::String &	axesToRemove,
		int	id = `-1`
	)

Add a marker to the set.

Parameters

pos	The position of the marker
name	The name of the marker
parentName	The name of the segment the marker is attached on
technical	If the marker is technical
anatomical	If the marker is anatomical
axesToRemove	Axes to remove while projecting the marker
id	The index of the parent segment

Definition at line 47 of file Markers.cpp.

◆ anatomicalMarkerNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::Markers::anatomicalMarkerNames ( ) const

Return the names of all the anatomical markers.

Returns: The names of the anatomical markers

Definition at line 473 of file Markers.cpp.

◆ anatomicalMarkers() [1/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::anatomicalMarkers ( bool removeAxis = true )

Return the anatomical markers in their respective parent reference frame.

Parameters

removeAxis If there are axis to remove from the position variables

Returns: A vector of all the anatomical markers in their parent reference frame

Definition at line 252 of file Markers.cpp.

◆ anatomicalMarkers() [2/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::anatomicalMarkers	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Return all the anatomical markers at a given Q in the global reference frame.

Parameters

Q	The generalized coordinates
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: A vector of all the anatomical markers

Definition at line 232 of file Markers.cpp.

◆ DeepCopy() [1/2]

biorbd::rigidbody::Markers biorbd::rigidbody::Markers::DeepCopy ( ) const

Deep copy of the markers.

Returns: Deep copy of the markers

Definition at line 32 of file Markers.cpp.

◆ DeepCopy() [2/2]

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

Deep copy of the markers.

Parameters

other The markers to copy from

Definition at line 39 of file Markers.cpp.

◆ inverseKinematics()

bool biorbd::rigidbody::Markers::inverseKinematics	(	const std::vector< biorbd::rigidbody::NodeSegment > &	markers,
		const biorbd::rigidbody::GeneralizedCoordinates &	Qinit,
		biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	removeAxes = `true`
	)

Performs an inverse kinematics.

Parameters

markers	The markers to track
Qinit	The initial guess for the generalized coordinates
Q	The generalized coordinates that tracks the markers
removeAxes	If the markers should be projected on the axes

Definition at line 347 of file Markers.cpp.

◆ marker() [1/5]

biorbd::rigidbody::NodeSegment biorbd::rigidbody::Markers::marker	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::NodeSegment &	node,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Compute and return the position of a marker at given Q in the global reference frame.

Parameters

Q	The generalized coordinates
node	The position of the marker in its parent reference frame
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: The marker in the global reference frame

Definition at line 78 of file Markers.cpp.

◆ marker() [2/5]

biorbd::rigidbody::NodeSegment biorbd::rigidbody::Markers::marker	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Compute and return the position of the marker of index idx at given Q in the global reference frame.

Parameters

Q	The generalized coordinates
idx	The index of the marker in the marker set
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: The marker idx in the global reference frame

Definition at line 97 of file Markers.cpp.

◆ marker() [3/5]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::marker ( const biorbd::utils::String & name ) const

Return the markers on a segment.

Parameters

name	Name of the segment

Returns: The markers on the segment

Definition at line 66 of file Markers.cpp.

◆ marker() [4/5]

const biorbd::rigidbody::NodeSegment & biorbd::rigidbody::Markers::marker ( unsigned int idx ) const

Return the marker of index idx.

Parameters

idx	The marker we want to return

Returns: The marker

Definition at line 60 of file Markers.cpp.

◆ marker() [5/5]

biorbd::rigidbody::NodeSegment biorbd::rigidbody::Markers::marker	(	unsigned int	idx,
		bool	removeAxis
	)

Return a marker of index idx in the marker set.

Parameters

idx	The index of the marker
removeAxis	If there are axis to remove from the position variables

Returns: The marker of index idx

Definition at line 117 of file Markers.cpp.

◆ markerNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::Markers::markerNames ( ) const

Return the names of all the markers.

Returns: The names of the markers

Definition at line 454 of file Markers.cpp.

◆ markers() [1/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::markers ( bool removeAxis = true )

Return all the markers in their respective parent reference frame.

Parameters

removeAxis If there are axis to remove from the position variables

Returns: All the markers

Definition at line 146 of file Markers.cpp.

◆ markers() [2/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::markers	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Return all the markers at a given Q in the global reference frame.

Parameters

Q	The generalized coordinates
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: All the markers in the global reference frame

Definition at line 129 of file Markers.cpp.

◆ markersJacobian() [1/3]

std::vector< biorbd::utils::Matrix > biorbd::rigidbody::Markers::markersJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	removeAxis,
		bool	updateKin,
		bool	lookForTechnical
	)

protected

Compute the jacobian of the markers.

Parameters

Q	The generalized coordinates
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated
lookForTechnical	Check if only technical markers are to be computed

Returns: The jacobian of the markers

Definition at line 380 of file Markers.cpp.

◆ markersJacobian() [2/3]

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

Return the jacobian of the markers.

Parameters

Q	The generalized coordinates
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: The jacobian of the markers

Definition at line 308 of file Markers.cpp.

◆ markersJacobian() [3/3]

biorbd::utils::Matrix biorbd::rigidbody::Markers::markersJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::utils::String &	parentName,
		const biorbd::rigidbody::NodeSegment &	p,
		bool	updateKin
	)

Return the jacobian of a chosen marker.

Parameters

Q	The generalized coordinates of the model
parentName	The name of the segment the marker lies on
p	The position of the point in the parent reference frame
updateKin	If the model should be updated

Returns: The jacobian of the chosen marker

Definition at line 325 of file Markers.cpp.

◆ markersVelocity()

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::markersVelocity	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Return the velocity of all the markers.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: The velocity of all the markers

Definition at line 182 of file Markers.cpp.

◆ markerVelocity()

biorbd::rigidbody::NodeSegment biorbd::rigidbody::Markers::markerVelocity	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		unsigned int	idx,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Return the velocity of a marker.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
idx	The index of the marker in the marker set
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: The velocity of a marker

Definition at line 157 of file Markers.cpp.

◆ nbAnatomicalMarkers()

unsigned int biorbd::rigidbody::Markers::nbAnatomicalMarkers ( )

Return the number of anatomical markers.

Returns: The number of anatomical markers

Definition at line 443 of file Markers.cpp.

◆ nbMarkers() [1/2]

unsigned int biorbd::rigidbody::Markers::nbMarkers ( ) const

Return the number of markers.

Returns: The number of markers

Definition at line 286 of file Markers.cpp.

◆ nbMarkers() [2/2]

unsigned int biorbd::rigidbody::Markers::nbMarkers ( unsigned int idxSegment ) const

Return the number of markers on the segment idxSegment.

Parameters

idxSegment The index of the segment

Returns: The number of markers of segment idxSegment

Definition at line 291 of file Markers.cpp.

◆ nbTechnicalMarkers() [1/2]

unsigned int biorbd::rigidbody::Markers::nbTechnicalMarkers ( )

Return the number of technical markers.

Returns: The number of technical markers

Definition at line 413 of file Markers.cpp.

◆ nbTechnicalMarkers() [2/2]

unsigned int biorbd::rigidbody::Markers::nbTechnicalMarkers ( unsigned int idxSegment )

Return the number of technical markers on the segment idxSegment.

Parameters

idxSegment The index of the segment

Returns: The number of technical markers of segment idxSegment

Definition at line 424 of file Markers.cpp.

◆ segmentMarkers()

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::segmentMarkers	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Return all the markers of the segment idx at a given Q in the global reference frame.

Parameters

Q	The generalized coordinates
idx	The index of the segment
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: All the markers of the segment idx

Definition at line 263 of file Markers.cpp.

◆ technicalMarkerNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::Markers::technicalMarkerNames ( ) const

Return the names of all the technical markers.

Returns: The names of the technical markers

Definition at line 463 of file Markers.cpp.

◆ technicalMarkers() [1/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::technicalMarkers ( bool removeAxis = true )

Return the technical markers in their respective parent reference frame.

Parameters

removeAxis If there are axis to remove from the position variables

Returns: A vector of all the technical markers in their parent reference frame

Definition at line 222 of file Markers.cpp.

◆ technicalMarkers() [2/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Markers::technicalMarkers	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	removeAxis = `true`,
		bool	updateKin = `true`
	)

Return all the technical markers at a given Q in the global reference frame.

Parameters

Q	The generalized coordinates
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: A vector of all the technical markers

Definition at line 202 of file Markers.cpp.

◆ technicalMarkersJacobian()

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

Return the jacobian of the technical markers.

Parameters

Q	The generalized coordinates
removeAxis	If there are axis to remove from the position variables
updateKin	If the model should be updated

Returns: The jacobian of the technical markers

Definition at line 316 of file Markers.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

◆ Markers()

Member Function Documentation

◆ addMarker()

◆ anatomicalMarkerNames()

◆ anatomicalMarkers() [1/2]

◆ anatomicalMarkers() [2/2]

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ inverseKinematics()

◆ marker() [1/5]

◆ marker() [2/5]

◆ marker() [3/5]

◆ marker() [4/5]

◆ marker() [5/5]

◆ markerNames()

◆ markers() [1/2]

◆ markers() [2/2]

◆ markersJacobian() [1/3]

◆ markersJacobian() [2/3]

◆ markersJacobian() [3/3]

◆ markersVelocity()

◆ markerVelocity()

◆ nbAnatomicalMarkers()

◆ nbMarkers() [1/2]

◆ nbMarkers() [2/2]

◆ nbTechnicalMarkers() [1/2]

◆ nbTechnicalMarkers() [2/2]

◆ segmentMarkers()

◆ technicalMarkerNames()

◆ technicalMarkers() [1/2]

◆ technicalMarkers() [2/2]

◆ technicalMarkersJacobian()