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gadget::GloveData Class Reference

This is the data stored about a glove. More...

#include <GloveData.h>

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List of all members.

Public Types

enum  { NUM_JOINTS = 4, NUM_COMPONENTS = 6 }
enum  GloveJoint {
  MPJ = 0, PIJ = 1, DIJ = 2, ABDUCT = 3,
  YAW = 0, PITCH = 1
}
enum  GloveComponent {
  THUMB = 0, INDEX = 1, MIDDLE = 2, RING = 3,
  PINKY = 4, WRIST = 5
}

Public Methods

 GloveData ()
 GloveData (const GloveData &data)
int calcXforms ()
 Calulates all the xform matrices This is calculated based upon the mAngles in the data structure. More...

gmtl::Matrix44f getLocalTransformMatrix (GloveComponent component, GloveJoint joint) const
 Returns the transform matrix of the specified joint. More...

std::ostream & outputAngles (std::ostream &out) const
 Outputs the angles. More...

std::istream & inputAngles (std::istream &in)

Public Attributes

float mAngles [NUM_COMPONENTS][NUM_JOINTS]
gmtl::Matrix44f mTransforms [NUM_COMPONENTS][(NUM_JOINTS-1)]
 These are the xforms from TO the coord system of the given joint. More...

Detailed Description

This is the data stored about a glove.

The angles are the joint angles for all fingers and the wrist DIJ = Distal Interphalangeal Joint --- finger tip PIJ = Proximal " " --- Middle joint MPJ = Metacarpo " " --- closest to hand ABDUCT = spread of fingers

YAW and PITCH apply only to WRIST

xforms transfer you from one coord system to the other. If the xforms are tied together, then they can return complete transformations.

Note:
More docs needed here.

Definition at line 63 of file GloveData.h.

Member Enumeration Documentation

anonymous enum
 

Enumeration values:
NUM_JOINTS 
NUM_COMPONENTS 

Definition at line 66 of file GloveData.h. 

00066 { NUM_JOINTS = 4, NUM_COMPONENTS = 6 };

enum gadget::GloveData::GloveJoint
 

Enumeration values:
MPJ 
PIJ 
DIJ 
ABDUCT 
YAW 
PITCH 

Definition at line 67 of file GloveData.h. 

00068       { MPJ = 0, PIJ = 1, DIJ = 2, ABDUCT = 3, YAW = 0, PITCH = 1};

enum gadget::GloveData::GloveComponent
 

Enumeration values:
THUMB 
INDEX 
MIDDLE 
RING 
PINKY 
WRIST 

Definition at line 69 of file GloveData.h. 

00070       { THUMB = 0, INDEX = 1, MIDDLE = 2, RING = 3, PINKY = 4, WRIST = 5};

Constructor & Destructor Documentation

gadget::GloveData::GloveData (    ) 
 

Definition at line 42 of file GloveData.cpp.

References mAngles, NUM_COMPONENTS, and NUM_JOINTS. 

00042                      : gadget::InputData()
00043 {
00044    // Zero out the mAngles
00045    for(int i=0;i<NUM_COMPONENTS;i++)
00046    {
00047       for(int j=0;j<NUM_JOINTS;j++)
00048       {
00049          mAngles[i][j] = 0;
00050       }
00051    }
00052 
00053    // Matrixes are already identities
00054 }

gadget::GloveData::GloveData (  const GloveData &    data ) 
 

Definition at line 56 of file GloveData.cpp.

References mAngles, mTransforms, NUM_COMPONENTS, and NUM_JOINTS. 

00056                                           : gadget::InputData(data)
00057 {
00058    int i;
00059 
00060    for (i=0;i<NUM_COMPONENTS;i++)
00061    {
00062       for(int j=0;j<NUM_JOINTS;j++)
00063       {
00064          mAngles[i][j] = data.mAngles[i][j];
00065       }
00066    }
00067 
00068    for(i=0;i<NUM_COMPONENTS;i++)
00069    {
00070       for(int j=0;j<NUM_JOINTS-1;j++)
00071       {
00072          mTransforms[i][j] = data.mTransforms[i][j];
00073       }
00074    }
00075 }

Member Function Documentation

int gadget::GloveData::calcXforms (    ) 
 

Calulates all the xform matrices This is calculated based upon the mAngles in the data structure.

I am just rotating around single axis for fingers, not taking abduct into account The thumb is a complete fudge. Wrist is not being done at all

Definition at line 85 of file GloveData.cpp.

References DIJ, INDEX, mAngles, MIDDLE, MPJ, mTransforms, NUM_COMPONENTS, NUM_JOINTS, PIJ, PINKY, RING, and THUMB. 

00086 {
00087    gmtl::Vec3f xAxis(1.0f, 0.0f, 0.0f);
00088    gmtl::Vec3f yAxis(0.0f, 1.0f, 0.0f);
00089    gmtl::Vec3f zAxis(0.0f, 0.0f, 1.0f);
00090    const float toMeters(1.0f/PositionUnitConversion::ConvertToInches);
00091    gmtl::Vec3f dims[NUM_COMPONENTS][NUM_JOINTS];
00092    
00093    // DIJ+1 = Length distal
00094    // DIJ   = Length medial
00095    // PIJ   = Length proximal
00096    // MPJ   = Length to finger
00097 
00098    // TODO: Do this once at startup, since it doesn't change.
00099    // And this really should be part of the Glove, so you can specify the dimension of a hand in the config file
00100 
00101    dims[THUMB][DIJ+1] = yAxis * (toMeters * 0.5f);
00102    dims[THUMB][DIJ] = yAxis * (toMeters * 0.5f);
00103    dims[THUMB][PIJ] = yAxis * (toMeters * 0.5f);
00104    dims[THUMB][MPJ] = xAxis * (toMeters * -0.5f);
00105 
00106    dims[INDEX][DIJ+1] = yAxis * (toMeters * 0.5f);
00107    dims[INDEX][DIJ] = yAxis * (toMeters * 1.0f);
00108    dims[INDEX][PIJ] = yAxis * (toMeters * 1.3f);
00109    dims[INDEX][MPJ] = (yAxis * (toMeters * 1.7f)) + (toMeters * xAxis * -0.4f);
00110 
00111    dims[MIDDLE][DIJ+1] = yAxis * (toMeters * 0.5f);
00112    dims[MIDDLE][DIJ] = yAxis * (toMeters * 1.1f);
00113    dims[MIDDLE][PIJ] = yAxis * (toMeters * 1.4f);
00114    dims[MIDDLE][MPJ] = (yAxis * (toMeters * 1.8f)) + (toMeters * xAxis * 0.0f);
00115 
00116    dims[RING][DIJ+1] = yAxis * (toMeters * 0.4f);
00117    dims[RING][DIJ] = yAxis * (toMeters * 1.0f);
00118    dims[RING][PIJ] = yAxis * (toMeters * 1.1f);
00119    dims[RING][MPJ] = (yAxis * (toMeters * 1.7f)) + (toMeters * xAxis * 0.4f);
00120 
00121    dims[PINKY][DIJ+1] = yAxis * (toMeters * 0.3f);
00122    dims[PINKY][DIJ] = yAxis * (toMeters * 1.0f);
00123    dims[PINKY][PIJ] = yAxis * (toMeters * 0.85f);
00124    dims[PINKY][MPJ] = (yAxis * (toMeters * 1.6f)) + (toMeters * xAxis * 0.7f);
00125 
00126    // ----------------------- //
00127    // ----- XFORMS ---------- //
00128    // ----------------------- //
00129 
00130    // THUMB
00131    gmtl::setRot(mTransforms[THUMB][DIJ], gmtl::AxisAnglef( mAngles[THUMB][DIJ], xAxis ) );
00132    gmtl::preMult(mTransforms[THUMB][DIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[THUMB][DIJ]));
00133    gmtl::setRot(mTransforms[THUMB][PIJ], gmtl::AxisAnglef( mAngles[THUMB][PIJ], xAxis ) );
00134    gmtl::preMult(mTransforms[THUMB][PIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[THUMB][PIJ]));
00135    gmtl::setRot(mTransforms[THUMB][MPJ], gmtl::AxisAnglef( gmtl::Math::PI_OVER_4, zAxis ) );
00136    gmtl::preMult(mTransforms[THUMB][MPJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[THUMB][MPJ]));
00137    
00138 // Do we need to rotate this by the mAngles too?
00139 // gmtl::setRot(mTransforms[THUMB][MPJ], gmtl::AxisAnglef( mAngles[THUMB][MPJ], xAxis ) );
00140 // gmtl::preMult(mTransforms[THUMB][MPJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[THUMB][MPJ]));
00141 
00142    // INDEX
00143    gmtl::setRot(mTransforms[INDEX][DIJ], gmtl::AxisAnglef( mAngles[INDEX][DIJ], xAxis ) );
00144    gmtl::preMult(mTransforms[INDEX][DIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[INDEX][DIJ]));
00145    gmtl::setRot(mTransforms[INDEX][PIJ], gmtl::AxisAnglef( mAngles[INDEX][PIJ], xAxis ) );
00146    gmtl::preMult(mTransforms[INDEX][PIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[INDEX][PIJ]));
00147    gmtl::setRot(mTransforms[INDEX][MPJ], gmtl::AxisAnglef( mAngles[INDEX][MPJ], xAxis ) );
00148    gmtl::preMult(mTransforms[INDEX][MPJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[INDEX][MPJ]));
00149 
00150    // MIDDLE
00151    gmtl::setRot(mTransforms[MIDDLE][DIJ], gmtl::AxisAnglef( mAngles[MIDDLE][DIJ], xAxis ) );
00152    gmtl::preMult(mTransforms[MIDDLE][DIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[MIDDLE][DIJ]));
00153    gmtl::setRot(mTransforms[MIDDLE][PIJ], gmtl::AxisAnglef( mAngles[MIDDLE][PIJ], xAxis ) );
00154    gmtl::preMult(mTransforms[MIDDLE][PIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[MIDDLE][PIJ]));
00155    gmtl::setRot(mTransforms[MIDDLE][MPJ], gmtl::AxisAnglef( mAngles[MIDDLE][MPJ], xAxis ) );
00156    gmtl::preMult(mTransforms[MIDDLE][MPJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[MIDDLE][MPJ]));
00157 
00158    // RING
00159    gmtl::setRot(mTransforms[RING][DIJ], gmtl::AxisAnglef( mAngles[RING][DIJ], xAxis ) );
00160    gmtl::preMult(mTransforms[RING][DIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[RING][DIJ]));
00161    gmtl::setRot(mTransforms[RING][PIJ], gmtl::AxisAnglef( mAngles[RING][PIJ], xAxis ) );
00162    gmtl::preMult(mTransforms[RING][PIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[RING][PIJ]));
00163    gmtl::setRot(mTransforms[RING][MPJ], gmtl::AxisAnglef( mAngles[RING][MPJ], xAxis ) );
00164    gmtl::preMult(mTransforms[RING][MPJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[RING][MPJ]));
00165 
00166    // PINKY
00167    gmtl::setRot(mTransforms[PINKY][DIJ], gmtl::AxisAnglef( mAngles[PINKY][DIJ], xAxis ) );
00168    gmtl::preMult(mTransforms[PINKY][DIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[PINKY][DIJ]));
00169    gmtl::setRot(mTransforms[PINKY][PIJ], gmtl::AxisAnglef( mAngles[PINKY][PIJ], xAxis ) );
00170    gmtl::preMult(mTransforms[PINKY][PIJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[PINKY][PIJ]));
00171    gmtl::setRot(mTransforms[PINKY][MPJ], gmtl::AxisAnglef( mAngles[PINKY][MPJ], xAxis ) );
00172    gmtl::preMult(mTransforms[PINKY][MPJ], gmtl::makeTrans<gmtl::Matrix44f>(dims[PINKY][MPJ]));
00173 
00174    return 1;
00175 }

gmtl::Matrix44f gadget::GloveData::getLocalTransformMatrix (  GloveComponent    component,
GloveJoint    joint
)  const [inline]
 

Returns the transform matrix of the specified joint.

Definition at line 85 of file GloveData.h. 

00086    {
00087       return mTransforms[component][joint];
00088    }

std::ostream & gadget::GloveData::outputAngles (  std::ostream &    out )  const
 

Outputs the angles.

TODO: Convert this to XML?

Definition at line 178 of file GloveData.cpp.

References mAngles, NUM_COMPONENTS, and NUM_JOINTS. 

00179 {
00180    for(int i=0;i<NUM_COMPONENTS;i++)
00181    {
00182       for(int j=0;j<NUM_JOINTS;j++)
00183       {
00184          out << mAngles[i][j] << " ";
00185       }
00186    }
00187 
00188    return out;
00189 }

std::istream & gadget::GloveData::inputAngles (  std::istream &    in ) 
 

Definition at line 192 of file GloveData.cpp.

References mAngles, NUM_COMPONENTS, and NUM_JOINTS. 

00193 {
00194    for(int i=0;i<NUM_COMPONENTS;i++)
00195    {
00196       for(int j=0;j<NUM_JOINTS;j++)
00197       {
00198          in >> mAngles[i][j];
00199       }
00200    }
00201 
00202    return in;
00203 }

Member Data Documentation

float gadget::GloveData::mAngles[NUM_COMPONENTS][NUM_JOINTS]
 

Definition at line 98 of file GloveData.h.

Referenced by calcXforms, GloveData, inputAngles, and outputAngles.

gmtl::Matrix44f gadget::GloveData::mTransforms[NUM_COMPONENTS][(NUM_JOINTS-1)]
 

These are the xforms from TO the coord system of the given joint.

Ex: xforms[0] ==>
baseTmpj mpjTpij pijTdij

Definition at line 105 of file GloveData.h.

Referenced by calcXforms, and GloveData.

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