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modellingcomponents:elements:kinematics

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modellingcomponents:elements:kinematics [2019/01/18 17:12]
oliver [Point]
modellingcomponents:elements:kinematics [2020/07/08 09:35] (aktuell)
oliver [Matrix3x3]
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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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 ======Point====== ======Point======
-A point element defines es spatial 3d point defined by coordinates of the laboratory global system or by coordinates in a given local coordinate system.+A point element defines es spatial 3d point defined by coordinates of the laboratory/global system or by coordinates in a given local coordinate system.
 The element creates a trajectory with the name of the element and the type of a 3d-Vector of double values. The element creates a trajectory with the name of the element and the type of a 3d-Vector of double values.
  
 ^ Attribute ^ Default ^ Description ^ Required ^ ^ Attribute ^ Default ^ Description ^ Required ^
 ^ name | | Name of the element | Yes | ^ name | | Name of the element | Yes |
 +^ localPoint | | Instead of defining the point by coordinates in the laboratory/​global system, it is possible to define the point by arbitrary local coordinates. The global coordinates of the point are then calculated by transforming with the given coordinate system. Note: This attribute needs the use of the attribute coordinateSystem. | No |
 +^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut "​localPoint"​ it defines the corresponding coordinate system. 2. If calibration is used, than for static trial which is defined by switches given with the attributes calibrateIncludes/​calibrateExcludes the point is transformed in local coordinates of the coordinate system which is given with this element. For all other trials the local coordinates are back transformed to the global coordinates using the current value of the coordinate system defined by this attribute. | No ^
 +^ referencePoint | | In a static trial the distance to this point is calculated as a trial mean. In no calibration trials this distance is used to translate the current position of the point to hold this fix distance. Note: This feature is not available in combination with the use of localPoint. | No |
 +^ expr (deprecated) | | Mathematical formula which defnines the point. Note: Typically this attribut is not used. The formula is given as elements content instead. | No |
 +^ x, y, z (deprecated) | | These attributes allows an alternative definition of the point by seperate mathematical formulas for each of the three components. | No |
 +^ noise | | | No |
 +^ noiseAmplitude | | | No |
 +^ debug | | | No |
 +^ visible | | | 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 | | | No |
 +^ calibrateExcludes | | | 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====
 +In the calibration trial defined by the switch "​static"​ A is calculated as B+C in coordinates of the global laboratory system. The absolute coordinates are transformed in the given local coordinate system "​Thorax"​. In all of the following trials A is calculated by the fixed local coordinates by transforming to global coordinates by the current attitude of the "​Thorax"​ coordinate system.
 +
 +<code xml>
 +<Point name="​A"​
 +       ​average="​true"​
 +       ​excludes="​static">​B+C</​Point>​
 +</​code>​
 +
 +Calculates the point A as B+C in coordinates of the global laboratory system. If the switch "​static" ​ is set for a trial nothing is calculated. ​
 +
 +<code xml>
 +<Point name="​A"​
 +       ​localPoint="​B+C"​
 +       ​coordinateSystem="​Thorax"/>​
 +</​code>​
 +
 +Calculates the point A as B+C in local coordinates and than thransform them by the coordinate system "​Thorax"​ in global coordinates.
 +
 +<code xml>
 +<Point name="​A"​
 +       ​coordinateSystem="​Thorax"​
 +       ​calibrateIncludes="​static">​B+C</​Point>​
 +</​code>​
 +
 +=====Created trajectories and parameters ====
 +^ Name ^ Type ^ Condition ^ Description ^
 +^ <​name>​ | Vector3d | always | the point values ^
 +^ <​name>​LocalPoint | Vector3d | if the attribute "​localPoint"​ is used | trajectorie or parameter as defined by the formula given with the "​localPoint"​ attribute ^
 +^ <​name>​Local | Vector3d | if calibration is used | ^
 +^ <​name>​ReferencePoint | Vector3d | if calibration is used | ^
 +^ <​name>​ReferencePointDistance | Vector3d | only for calibration trials | ^
 +^ <​name>​ReferencePointDistanceCalibrate | Vector3d | only for calibration trials if the reference point attribute is used  | distance to a given referencePoint^
 +
 ======LocalPoint====== ======LocalPoint======
 A local point element defines es spatial 3d point defined by coordinates of a given local coordinate system. The element creates a trajectory with the name of the element an the type of a 3d-Vector of double values. ​ A local point element defines es spatial 3d point defined by coordinates of a given local coordinate system. The element creates a trajectory with the name of the element an the type of a 3d-Vector of double values. ​
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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. ​
modellingcomponents/elements/kinematics.1547827952.txt.gz · Zuletzt geändert: 2019/01/18 17:12 von oliver