MotionSequence Class Reference#include <MotionSequenceMC.h>
Inheritance diagram for MotionSequence:
[legend]List of all members.
Detailed Description
A handy little (or not so little) class for switching between a sequence of postures.
Outputs are handled independently. It's easy to add keyframes which modify all of the outputs, but since each output is tracked individually, OutputCmd's with 0 weight can be used to not affect other motions. For instance, pan the head left to right while moving the right leg up and down several times, you won't have to specify the position of the head in its motion at each of the leg motion keyframes.
Be aware that the 0 time frame will be replaced on a call to play() with the current body posture. However, this only applies to outputs which have a non-zero weighted frame defined at some point. The weights, of the 0 time frame will remain unchanged. These weights are initially set to 0, so that it's possible to 'fade in' the first frame of the motion sequence from whereever the body happens to be (or already doing)
To fade out at the end, set a frame with 0 weight for everything. Otherwise it will simply die suddenly. When a joint reaches its last keyframe, it will be set to 0 weight for all future updateOutputs() (unless of course the playhead is reset)
Currently, MotionSequence's are intended mainly for building, not editing. It's easy to add keyframes, but hard/impossible to delete them.
The MotionSequence base class is an abstract class so that you can create memory efficient motion sequences and simply refer to them by the common base class instead of having to worry about the actual size allocated in the template, MotionSequenceMC.
- See also:
- MotionSequence::SizeSmall, MotionSequence::SizeMedium, MotionSequence::SizeLarge, MotionSequence::SizeXLarge,
The file format used is as follows: ('<' and '>' are not meant literally)
* First line: #MSq
* Zero or more of: delay <time-delta> (moves playhead forward, in milliseconds)
* or: settime <time> (sets play time to specified value, in ms)
* or: <outputname> <value> [<weight>] (sets the specified output to the value - assumes 1 for weight)
* or: load <filename> (file is a posture, sets position)
* or: overlay <filename> (file can be a posture or another motion sequence)
* or: degrees (following <value>s will be interpreted as degrees [default])
* or: radians (following <value>s will be interpreted as radians)
* Last line: #END
* After loading a motion sequence, the playtime is left at the end. This is to make it easy to append/overlay motion sequences
Lines beginning with '#' are ignored. Output names are defined in RobotInfo.h, RobotInfo::outputNames.
Definition at line 63 of file MotionSequenceMC.h.
|
Public Member Functions |
| MotionSequence () |
| constructor, will start playing immediately
|
virtual | ~MotionSequence () |
| destructor
|
|
virtual int | updateOutputs () |
| is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
|
virtual int | isDirty () |
| not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
|
virtual int | isAlive () |
| used to prune "dead" motions from the MotionManager
|
|
virtual unsigned int | getBinSize () const |
| inherited, returns the size used to save the sequence
|
virtual unsigned int | LoadBuffer (const char buf[], unsigned int len) |
| inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load.
|
virtual unsigned int | SaveBuffer (char buf[], unsigned int len) const |
| inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded
|
void | setSaveDegrees () |
| will store angles as degrees on future saves
|
bool | isSaveDegrees () const |
| returns true if will store angles as degrees on future saves
|
void | setSaveRadians () |
| will store angles as radians on future saves
|
bool | isSaveRadians () const |
| returns true if will store angles as degrees on future saves
|
|
virtual void | clear ()=0 |
| empties out the sequence (constant time operation - faster than a series of pops)
|
void | setPlayTime (unsigned int x) |
| set the time for both playback and editing (in milliseconds)
|
void | setOutputCmd (unsigned int i, const OutputCmd &cmd) |
| will insert a keyframe for the given output, or change an existing one
|
const OutputCmd & | getOutputCmd (unsigned int i) |
| gets the value of output i at the playhead
|
void | setPose (const PostureEngine &pose) |
| calls setOutputCmd on each of the OutputCmds in pose
|
void | overlayPose (const PostureEngine &pose) |
| calls setOutputCmd on non-zero weighted OutputCmds in pose
|
void | compress () |
| compresses the sequence by eliminating sequences of moves which are identical
|
virtual unsigned int | getMaxFrames () const=0 |
| returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter
|
virtual unsigned int | getUsedFrames () const=0 |
| returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequence subclass
|
void | makeSafe (const float vels[NumOutputs], float margin) |
| will insert time into the motion where needed to keep the joint velocities at or below the speeds given in vels * margin
|
|
bool | isPlaying () |
| returns true if currently playing
|
void | play () |
| restarts playback from beginning
|
void | pause () |
| pauses playback until another call to play() or resume()
|
void | resume () |
| begins playback from the current playtime
|
unsigned int | getPlayTime () const |
| returns the current position of the playback (in milliseconds), see setPlayTime()
|
unsigned int | getEndTime () const |
| returns the length of the motion sequence (in milliseconds)
|
void | setPlaySpeed (float x) |
| sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=backwards)
|
float | getPlaySpeed () const |
| returns the playback speed
|
Static Public Attributes |
|
To avoid code bloat if there are a large number of different sized MotionSequences, use these sizes where possible.
|
const unsigned int | SizeTiny = NumOutputs*2 |
| Tiny, but enough to handle a transition into a full-body pose.
|
const unsigned int | SizeSmall = NumOutputs*3 |
| Small, but still big enough to handle most of the included MS's (2 full-body frames ~ around 1KB).
|
const unsigned int | SizeMedium = NumOutputs*6 |
| Medium (5 full body frames ~ est 4KB).
|
const unsigned int | SizeLarge = NumOutputs*11 |
| Large (10 full body frames ~ est 8KB).
|
const unsigned int | SizeXLarge = NumOutputs*26 |
| eXtra Large (25 full body frames ~ est 16KB)
|
Protected Types |
typedef unsigned short | Move_idx_t |
| type for indexes to move structures in #moves
|
Protected Member Functions |
virtual Move & | getKeyFrame (Move_idx_t x)=0 |
| returns the Move struct corresponding to x in the subclass's actual data structure
|
virtual const Move & | getKeyFrame (Move_idx_t x) const=0 |
| returns the Move struct corresponding to x in the subclass's actual data structure
|
virtual Move_idx_t | newKeyFrame ()=0 |
| causes subclass to create a new Move structure, returns its index
|
virtual void | eraseKeyFrame (Move_idx_t x)=0 |
| causes subclass to mark the corresponding Move structure as free
|
void | calcOutput (OutputCmd &ans, unsigned int t, const Move &prev, const Move &next) const |
| Does the actual calculation of position information. Perhaps replace with a Bezier or spline or something?
|
virtual void | setRange (unsigned int t, Move_idx_t &prev, Move_idx_t &next) const=0 |
| Sets prev and next to the appropriate values for the given time and output index.
|
unsigned int | setNextFrameTime (Move_idx_t p[NumOutputs], Move_idx_t n[NumOutputs]) const |
| sets playtime to next time for which any output has a keyframe, -1 if none exists
|
Static Protected Member Functions |
bool | ChkAdvance (int res, const char **buf, unsigned int *len, const char *msg) |
| used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg if is zero
|
bool | ChkAdvance (int res, const char **buf, unsigned int *len, const char *msg, int arg1) |
| used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg with arg1 if is zero
|
unsigned int | readWord (const char buf[], const char *const buflen, char word[], const unsigned int wordlen) |
| reads a line from a file, parsing it into variables, returns ending position
|
unsigned int | getOutputIndex (const char name[], unsigned int i) |
| returns the index for the output named in the string or NumOutputs if not found, begins search through RobotInfo::outputName's at index i
|
Protected Attributes |
Move_idx_t | starts [NumOutputs] |
| the beginning frame for each output animation
|
Move_idx_t | prevs [NumOutputs] |
| the previous frame (the starttime for this frame will always be less than or equal to playtime)
|
Move_idx_t | nexts [NumOutputs] |
| the upcoming frame (the starttime for this frame will always be greater than playtime)
|
OutputCmd | curs [NumOutputs] |
| merely a cache of current values (if computed, see curstamps)
|
unsigned int | curstamps [NumOutputs] |
| timestamp of corresponding value in curs
|
unsigned int | playtime |
| the current time of playback, 0 is start of sequence
|
unsigned int | lasttime |
| the time of the last update
|
unsigned int | endtime |
| max of #moves's Move::starttime's
|
float | playspeed |
| multiplies the difference between current time and starttime, negative will cause play backwards
|
bool | playing |
| true if playing, false if paused
|
float | loadSaveMode |
| 1 to use radians, M_PI/180 for degrees during a save
|
Static Protected Attributes |
Move_idx_t | invalid_move = -1U |
| used to mark the ends of the Move linked lists
|
Member Typedef Documentation
Constructor & Destructor Documentation
MotionSequence::MotionSequence |
( |
|
) |
[inline] |
|
Member Function Documentation
void MotionSequence::calcOutput |
( |
OutputCmd & |
ans, |
|
|
unsigned int |
t, |
|
|
const Move & |
prev, |
|
|
const Move & |
next |
|
) |
const [inline, protected] |
|
bool MotionSequence::ChkAdvance |
( |
int |
res, |
|
|
const char ** |
buf, |
|
|
unsigned int * |
len, |
|
|
const char * |
msg, |
|
|
int |
arg1 |
|
) |
[static, protected] |
|
|
used by LoadBuffer()/SaveBuffer(), checks to see if the amount read/written (res) is nonzero, increments buf, decrements len, or displays msg with arg1 if is zero
Definition at line 361 of file MotionSequenceMC.cc. |
bool MotionSequence::ChkAdvance |
( |
int |
res, |
|
|
const char ** |
buf, |
|
|
unsigned int * |
len, |
|
|
const char * |
msg |
|
) |
[static, protected] |
|
virtual void MotionSequence::clear |
( |
|
) |
[pure virtual] |
|
void MotionSequence::compress |
( |
|
) |
|
|
|
compresses the sequence by eliminating sequences of moves which are identical
Definition at line 272 of file MotionSequenceMC.cc. |
virtual void MotionSequence::eraseKeyFrame |
( |
Move_idx_t |
x |
) |
[protected, pure virtual] |
|
unsigned int MotionSequence::getBinSize |
( |
|
) |
const [virtual] |
|
unsigned int MotionSequence::getEndTime |
( |
|
) |
const [inline] |
|
|
returns the length of the motion sequence (in milliseconds)
Definition at line 114 of file MotionSequenceMC.h. |
virtual const Move& MotionSequence::getKeyFrame |
( |
Move_idx_t |
x |
) |
const [protected, pure virtual] |
|
virtual Move& MotionSequence::getKeyFrame |
( |
Move_idx_t |
x |
) |
[protected, pure virtual] |
|
virtual unsigned int MotionSequence::getMaxFrames |
( |
|
) |
const [pure virtual] |
|
const OutputCmd & MotionSequence::getOutputCmd |
( |
unsigned int |
i |
) |
|
|
unsigned int MotionSequence::getOutputIndex |
( |
const char |
name[], |
|
|
unsigned int |
i |
|
) |
[static, protected] |
|
|
returns the index for the output named in the string or NumOutputs if not found, begins search through RobotInfo::outputName's at index i
Definition at line 399 of file MotionSequenceMC.cc.
Referenced by LoadBuffer(). |
float MotionSequence::getPlaySpeed |
( |
|
) |
const [inline] |
|
unsigned int MotionSequence::getPlayTime |
( |
|
) |
const [inline] |
|
virtual unsigned int MotionSequence::getUsedFrames |
( |
|
) |
const [pure virtual] |
|
virtual int MotionSequence::isAlive |
( |
|
) |
[inline, virtual] |
|
|
used to prune "dead" motions from the MotionManager
note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;) - Returns:
- zero if the motion is still processing, non-zero otherwise
Implements MotionCommand.
Definition at line 82 of file MotionSequenceMC.h.
Referenced by isPlaying(). |
virtual int MotionSequence::isDirty |
( |
|
) |
[inline, virtual] |
|
|
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
- Returns:
- zero if none of the commands have changed since last getJointCmd(), else non-zero
Implements MotionCommand.
Definition at line 81 of file MotionSequenceMC.h. |
bool MotionSequence::isPlaying |
( |
|
) |
[inline] |
|
bool MotionSequence::isSaveDegrees |
( |
|
) |
const [inline] |
|
|
returns true if will store angles as degrees on future saves
Definition at line 90 of file MotionSequenceMC.h. |
bool MotionSequence::isSaveRadians |
( |
|
) |
const [inline] |
|
unsigned int MotionSequence::LoadBuffer |
( |
const char |
buf[], |
|
|
unsigned int |
len |
|
) |
[virtual] |
|
|
inherited, doesn't clear before loading - call clear yourself if you want to reset, otherwise it will overlay. Leaves playtime at end of load.
Implements LoadSave.
Definition at line 68 of file MotionSequenceMC.cc. |
void MotionSequence::makeSafe |
( |
const float |
vels[NumOutputs], |
|
|
float |
margin |
|
) |
|
|
|
will insert time into the motion where needed to keep the joint velocities at or below the speeds given in vels * margin
Definition at line 299 of file MotionSequenceMC.cc. |
virtual Move_idx_t MotionSequence::newKeyFrame |
( |
|
) |
[protected, pure virtual] |
|
void MotionSequence::pause |
( |
|
) |
[inline] |
|
void MotionSequence::play |
( |
|
) |
|
|
unsigned int MotionSequence::readWord |
( |
const char |
buf[], |
|
|
const char *const |
buflen, |
|
|
char |
word[], |
|
|
const unsigned int |
wordlen |
|
) |
[static, protected] |
|
void MotionSequence::resume |
( |
|
) |
|
|
unsigned int MotionSequence::SaveBuffer |
( |
char |
buf[], |
|
|
unsigned int |
len |
|
) |
const [virtual] |
|
|
inherited, saves the motion sequence - will save a flat file - doesn't remember references to other files which were loaded
Implements LoadSave.
Definition at line 171 of file MotionSequenceMC.cc. |
unsigned int MotionSequence::setNextFrameTime |
( |
Move_idx_t |
p[NumOutputs], |
|
|
Move_idx_t |
n[NumOutputs] |
|
) |
const [protected] |
|
void MotionSequence::setOutputCmd |
( |
unsigned int |
i, |
|
|
const OutputCmd & |
cmd |
|
) |
|
|
void MotionSequence::setPlaySpeed |
( |
float |
x |
) |
[inline] |
|
|
sets the playback speed (e.g. 1=regular, 0.5=half speed, -1=backwards)
Definition at line 115 of file MotionSequenceMC.h. |
void MotionSequence::setPlayTime |
( |
unsigned int |
x |
) |
|
|
virtual void MotionSequence::setRange |
( |
unsigned int |
t, |
|
|
Move_idx_t & |
prev, |
|
|
Move_idx_t & |
next |
|
) |
const [protected, pure virtual] |
|
void MotionSequence::setSaveDegrees |
( |
|
) |
[inline] |
|
void MotionSequence::setSaveRadians |
( |
|
) |
[inline] |
|
int MotionSequence::updateOutputs |
( |
|
) |
[virtual] |
|
Member Data Documentation
|
Small, but still big enough to handle most of the included MS's (2 full-body frames ~ around 1KB).
Definition at line 73 of file MotionSequenceMC.h. |
|
Tiny, but enough to handle a transition into a full-body pose.
Definition at line 72 of file MotionSequenceMC.h. |
The documentation for this class was generated from the following files:
|