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gadget::PositionXformFilter Class Reference

PositionFilter is the abstract base class that all position filters derive from. More...

#include <PositionXformFilter.h>

Inheritance diagram for gadget::PositionXformFilter:

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List of all members.

Public Methods

 PositionXformFilter ()
 Constructor. More...

virtual ~PositionXformFilter ()
 Destructor. More...

virtual bool config (jccl::ConfigElementPtr e)
 Configuration for the filter. More...

virtual void apply (std::vector< PositionData > &posSample)
 Apply the pos filter. More...


Static Public Methods

std::string getElementType ()
 Returns the string rep of the element type used to config this device. More...


Protected Attributes

gmtl::Matrix44f mPreXform
 pre transformation. More...

gmtl::Matrix44f mPostXform
 post transformation. More...

float mScaleValue
 The value to use for scaling. More...

Detailed Description

PositionFilter is the abstract base class that all position filters derive from.

compute Sensor = preTrans*preRot*(Scale*Sensor)*postTrans*postRot

Definition at line 53 of file PositionXformFilter.h.

Constructor & Destructor Documentation

gadget::PositionXformFilter::PositionXformFilter (    )  [inline]
 

Constructor.

Definition at line 57 of file PositionXformFilter.h. 

00058       : mScaleValue(0.0f)
00059    {;}

virtual gadget::PositionXformFilter::~PositionXformFilter (    )  [inline, virtual]
 

Destructor.

Definition at line 62 of file PositionXformFilter.h. 

00063    {;}

Member Function Documentation

bool gadget::PositionXformFilter::config (  jccl::ConfigElementPtr    e )  [virtual]
 

Configuration for the filter.

Returns:
Returns truee if configured correctly

Implements gadget::PositionFilter.

Definition at line 57 of file PositionXformFilter.cpp.

References mPostXform, mPreXform, and mScaleValue. 

00058 {
00059    vprDEBUG_OutputGuard(vprDBG_ALL, vprDBG_VERB_LVL, 
00060                         std::string("PositionXformFilter::config: ") +
00061                            e->getFullName() + std::string(":") +
00062                            e->getID() + std::string("\n"),
00063                         std::string("PositionXformFilter::config: done.\n") );
00064 
00065    vprASSERT(e->getID() == PositionXformFilter::getElementType());
00066 
00067    // These are the transforms from the base tracker coord system
00068    float pre_xt, pre_yt, pre_zt;
00069    float post_xt, post_yt, post_zt;
00070    pre_xt = e->getProperty<float>("pre_translate",0);
00071    pre_yt = e->getProperty<float>("pre_translate",1);
00072    pre_zt = e->getProperty<float>("pre_translate",2);
00073 
00074    post_xt = e->getProperty<float>("post_translate",0);
00075    post_yt = e->getProperty<float>("post_translate",1);
00076    post_zt = e->getProperty<float>("post_translate",2);
00077 
00078 
00079    // These values are specified in human-friendly degrees but must be passed
00080    // to GMTL as radians.
00081    float pre_xr, pre_yr, pre_zr;
00082    float post_xr, post_yr, post_zr;
00083    pre_xr = gmtl::Math::deg2Rad(e->getProperty<float>("pre_rotation",0));
00084    pre_yr = gmtl::Math::deg2Rad(e->getProperty<float>("pre_rotation",1));
00085    pre_zr = gmtl::Math::deg2Rad(e->getProperty<float>("pre_rotation",2));
00086 
00087    post_xr = gmtl::Math::deg2Rad(e->getProperty<float>("post_rotation",0));
00088    post_yr = gmtl::Math::deg2Rad(e->getProperty<float>("post_rotation",1));
00089    post_zr = gmtl::Math::deg2Rad(e->getProperty<float>("post_rotation",2));
00090 
00091    // Calculate the scale value
00092    // - If dev_units is 0.0f, then use custom_scale
00093    mScaleValue = e->getProperty<float>("device_units");
00094 
00095    if(mScaleValue == 0.0f)
00096    {
00097       mScaleValue = e->getProperty<float>("custom_scale");
00098    }
00099 
00100    // This makes a rotation matrix that moves a pt in
00101    // the device's coord system to the vj coord system.
00102    // ==> world_M_transmitter
00103    // PRE XFORM
00104    gmtl::Matrix44f pre_trans_mat, pre_rot_mat;
00105    if((0.0f != pre_xt) || (0.0f != pre_yt) || (0.0f != pre_zt))
00106    {
00107       gmtl::setTrans(pre_trans_mat, gmtl::Vec3f(pre_xt, pre_yt, pre_zt) );
00108    }
00109    if((pre_xr != 0.0f) || (pre_yr != 0.0f) || (pre_zr != 0.0f))
00110    {
00111       gmtl::EulerAngleXYZf euler( pre_xr,pre_yr,pre_zr );      
00112       pre_rot_mat = gmtl::makeRot<gmtl::Matrix44f>( euler );
00113    }
00114 
00115    // POST XFORM
00116    gmtl::Matrix44f post_trans_mat, post_rot_mat;
00117    if((0.0f != post_xt) || (0.0f != post_yt) || (0.0f != post_zt))
00118    {
00119       gmtl::setTrans(post_trans_mat, gmtl::Vec3f(post_xt, post_yt, post_zt) );
00120    }
00121    if((post_xr != 0.0f) || (post_yr != 0.0f) || (post_zr != 0.0f))
00122    {
00123       gmtl::EulerAngleXYZf euler( post_xr,post_yr,post_zr );      
00124       post_rot_mat = gmtl::makeRot<gmtl::Matrix44f>( euler );
00125    }
00126       
00127    mPreXform = pre_trans_mat;
00128    gmtl::postMult(mPreXform, pre_rot_mat);         // xformMat = T*R
00129 
00130    mPostXform = post_trans_mat;
00131    gmtl::postMult(mPostXform, post_rot_mat);         // xformMat = T*R
00132          
00133    vprDEBUG(vprDBG_ALL, vprDBG_VERB_LVL)
00134          << "m:preXform [T*R]: \n" << mPreXform
00135          << "\npre_trans_mat:\n" << pre_trans_mat
00136          << "\npre_rot_mat:\n" << pre_rot_mat 
00137          << "\n" << vprDEBUG_FLUSH;
00138    vprDEBUG(vprDBG_ALL, vprDBG_VERB_LVL)
00139          << "m:postXform [T*R]: \n" << mPostXform
00140          << "\npost_trans_mat:\n" << post_trans_mat
00141          << "\npost_rot_mat:\n" << post_rot_mat 
00142          << "\n" << vprDEBUG_FLUSH;
00143                                 
00144    return true;
00145 }

void gadget::PositionXformFilter::apply (  std::vector< PositionData > &    posSample )  [virtual]
 

Apply the pos filter.

Apply the filter to the posSample in place.

Parameters:
posSample  - The sample to modify in place
Postcondition:
posSample is updated with a modified version.

Implements gadget::PositionFilter.

Definition at line 148 of file PositionXformFilter.cpp.

References mPostXform, mPreXform, and mScaleValue. 

00149 {
00150    gmtl::Matrix44f* cur_mat(NULL);
00151 
00152    for(std::vector<PositionData>::iterator i=posSample.begin(); i != posSample.end(); ++i)
00153    {                               
00154       cur_mat = &((*i).mPosData);
00155 
00156       gmtl::postMult(*cur_mat, mPostXform);           // POST xform: cur = cur*postTrans*postRot
00157 
00158       gmtl::Vec3f trans;                              // SCALE:
00159       gmtl::setTrans(trans, *cur_mat);                // Get the translational vector
00160       trans *= mScaleValue;                           // Scale the translation and set the value again
00161       gmtl::setTrans(*cur_mat, trans);
00162 
00163       gmtl::preMult(*cur_mat, mPreXform);        // PRE: S_world = wMs * S_sensor       
00164    }
00165 }

std::string gadget::PositionXformFilter::getElementType (    )  [static]
 

Returns the string rep of the element type used to config this device.

This string is used by the device factory to look up device drivers based up the type of element it is trying to load.

Reimplemented from gadget::PositionFilter.

Definition at line 52 of file PositionXformFilter.cpp. 

00053 {
00054    return "position_transform_filter";
00055 }

Member Data Documentation

gmtl::Matrix44f gadget::PositionXformFilter::mPreXform [protected]
 

pre transformation.

preXform is the transform from world to sensor (world_M_sensor) postXform is the transform from sensor to sensor' (sensor_M_newsensor)

compute Sensor = preTrans*preRot*(Scale*Sensor)*postTrans*postRot

Definition at line 89 of file PositionXformFilter.h.

Referenced by apply, and config.

gmtl::Matrix44f gadget::PositionXformFilter::mPostXform [protected]
 

post transformation.

Definition at line 90 of file PositionXformFilter.h.

Referenced by apply, and config.

float gadget::PositionXformFilter::mScaleValue [protected]
 

The value to use for scaling.

Definition at line 91 of file PositionXformFilter.h.

Referenced by apply, and config.

The documentation for this class was generated from the following files:
Generated on Sun May 2 14:26:52 2004 for Gadgeteer by doxygen1.2.14 written by Dimitri van Heesch, © 1997-2002