CreateVRMLWithMarkers.h File Reference

#include <stdio.h>
#include <stdlib.h>

Go to the source code of this file.

Data Structures
struct	MatList
struct	VRMLFeatures
Defines
#define	FALSE   0
#define	NMARKER   28
#define	TRUE   1
	Creation of the VRML file containing HUMANS simulated motion.
Enumerations
enum	InterpType { POSITION, ORIENTATION, COLOR, SCALE }
Functions
int	CreateVRMLWithMarkers ()
void	HAnimOrientations (double *Or, double *q)
	Compute the matrix of global orientation of the model in the h-anim referential.
void	HAnimPosition (double *Pos, double *q, double *L)
	Compute the matrix of global position of the model in the h-anim referential.
void	HAnimVPos (double *VPOS, double *Lambda, double *q, double *L, double *AddL)
	Compute the matrix of position of the center of pressure(COP) of the contact solids and in the last column the sum of the forces vertical components in the h-anim referential.
void	HAnimVRot (double *VRot, double *Lambda)
	Compute the matrix of orientations(angle/axe) of the forces on the contact solids and of the total forces in the h-anim referential NCONTSOL is the number of contact solids and NCONT the number of contact points.
void	HAnimVScale (double *VScale, double *Lambda)
	Compute the scale along the h-anim x, y and z axes.
void	InitVRMLFeaturesWithMarkers ()
void	ResetVRMLFeaturesWithMarkers ()
int	SetUpVRMLCharacter (char *geomFilename, int nb, char **names, double *rot, double *pos)
int	SetUpVRMLFile (char *outputFilename, int useJava)
int	SetUpVRMLInterpolation (int nbS, double dt)
int	SetUpVRMLMarkers (int nb, char **names, double *pos, double *col)
int	SetUpVRMLPhysVec (int nb, char **names, double *rot, double *pos, double *scale, double *RGB)
int	WriteVRMLInterpolator (FILE *f, enum InterpType type, int index, char *name, int nbItems, int nbSamples, double *data)
int	WriteVRMLMarker (FILE *f, char *name, double *col)
int	WriteVRMLPhysVec (FILE *f, int index, char *name, double *data)

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Define Documentation

#define FALSE   0

#define NMARKER   28

#define TRUE   1

Creation of the VRML file containing HUMANS simulated motion.

--------------------------------------------------------------------------
Creation : 2005/04/14
Author(s) : Laurence Boissieux
Last modification :

--------------------------------------------------------------------------
Contents: - CreateVRML function

-------------------------------------------------------------------------
Revisions:
03/2006: added leds targets as red spheres

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Enumeration Type Documentation

enum InterpType

Enumerator:

POSITION
ORIENTATION
COLOR
SCALE

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Function Documentation

int CreateVRMLWithMarkers

(

)

Creates a VRML h-anim compliant file describing geometry and HUMANS simulated motion

Returns:

return 1 on success, exit(-1) on error

void HAnimOrientations	(	double *	Or,
		double *	q
	)

Compute the matrix of global orientation of the model in the h-anim referential.

Parameters:

[out]	Or	Matrix of global orientation dim 1x4
[in]	q	Joint State Vector dim NDOF

void HAnimPosition	(	double *	Pos,
		double *	q,
		double *	L
	)

Compute the matrix of global position of the model in the h-anim referential.

Parameters:

[out]	Pos	Matrix of global position dim 1x3
[in]	q	Joint State Vector dim NDOF

void HAnimVPos	(	double *	VPOS,
		double *	Lambda,
		double *	q,
		double *	L,
		double *	AddL
	)

Compute the matrix of position of the center of pressure(COP) of the contact solids and in the last column the sum of the forces vertical components in the h-anim referential.

NCONTSOL is the number of contact solids and NCONT the number of contact points.

Parameters:

[out]	VPOS	Matrix of COP positions dim NCONTSOLx4
[in]	Lambda	the forces vector on the contact points dim 3*NCONT
[in]	q	Joint State Vector dim NDOF
[in]	L	Anatomical lengths row Vector dim NLANAT
[in]	AddL	Tags Positions in their attached frame row Vector dim NLTAGS

void HAnimVRot	(	double *	VRot,
		double *	Lambda
	)

Compute the matrix of orientations(angle/axe) of the forces on the contact solids and of the total forces in the h-anim referential NCONTSOL is the number of contact solids and NCONT the number of contact points.

Parameters:

[out]	VRot	Matrix of forces orientations dim NCONTSOLx4
[in]	Lambda	the forces vector on the contact points dim 3*NCONT

void HAnimVScale	(	double *	VScale,
		double *	Lambda
	)

Compute the scale along the h-anim x, y and z axes.

The return is a matrix NCONTSOLx3. The rows correspond to the scales for one contact solid.

Parameters:

[out]	VScale	Matrix of forces scales dim NCONTSOLx4
[in]	Lambda	the forces vector on the contact points dim 3*NCONT

void InitVRMLFeaturesWithMarkers

(

)

void ResetVRMLFeaturesWithMarkers

(

)

int SetUpVRMLCharacter	(	char *	geomFilename,
		int	nb,
		char **	names,
		double *	rot,
		double *	pos
	)

int SetUpVRMLFile	(	char *	outputFilename,
		int	useJava
	)

int SetUpVRMLInterpolation	(	int	nbS,
		double	dt
	)

int SetUpVRMLMarkers	(	int	nb,
		char **	names,
		double *	pos,
		double *	col
	)

int SetUpVRMLPhysVec	(	int	nb,
		char **	names,
		double *	rot,
		double *	pos,
		double *	scale,
		double *	RGB
	)

int WriteVRMLInterpolator	(	FILE *	f,
		enum InterpType	type,
		int	index,
		char *	name,
		int	nbItems,
		int	nbSamples,
		double *	data
	)

Writes in VRML an interpolator bloc for a given joint, physical Vector or marker

Parameters:

	file	(FILE *) the descriptor of the file to write into
	type	(InterpType) type of the Intepolator bloc, POSITION, ORIENTATION, COLOR or SCALAR
	index	(int) index of the joint, physical vector or marker for which is written the interpolator
	name	(char *) name of the joint, physical vector or marker
	nbItems	(int) number of joints or physical vectors
	nbSamples	(int) number of time samples
	data	(double *) interpolation data

int WriteVRMLMarker	(	FILE *	f,
		char *	name,
		double *	col
	)

Writes in VRML a transform bloc for a given marker

Parameters:

	file	(FILE *) the descriptor of the file to write into
	index	(int) index of the marker for which is written the transform node
	name	(char *) name of the marker
	col	(double *) RGB color, red by default

int WriteVRMLPhysVec	(	FILE *	f,
		int	index,
		char *	name,
		double *	data
	)

Writes in VRML a transform bloc for a given physical Vector

Parameters:

	file	(FILE *) the descriptor of the file to write into
	index	(int) index of the physical vector for which is written the transform node
	name	(char *) name of the physical vector
	data	(double *) RGB colors

HuMAnS

humans-users@inrialpes.fr

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