KinematicAnimation Class Reference

Class KinematicAnimation. More...

#include <kinematic_animation.h>

Collaboration diagram for KinematicAnimation:

Public Member Functions
	KinematicAnimation ()
	Constructor. More...
void	initialize (igl::opengl::glfw::Viewer *viewer, Exoskeleton *left_exo, AnimatedHand *anim_hand, MenuHandler *menu_handler)
	Initialize animation. More...
bool	animation_loop (igl::opengl::glfw::Viewer &viewer)
	Animation loop callback. More...

Private Member Functions
void	setup_exoskeletons (igl::opengl::glfw::Viewer &viewer)
	Setup exoskeletons. More...

Private Attributes
Exoskeleton *	m_left_exo
	Exoskeleton handler pointer. More...
AnimatedHand *	m_anim_hand
	Animated hand pointer. More...
MenuHandler *	m_menu_handler
	Menu handler pointer. More...
Hand	m_left_hand
	Left and right hand. More...
Hand	m_right_hand
Eigen::Vector3d	m_left_origin = Eigen::Vector3d(0.0, 0.2, 0.0)
	Left hand origin. More...
Eigen::Vector3d	m_right_origin = Eigen::Vector3d(0.0, -0.2, 0.0)
	Right hand origin. More...
bool	m_initialize_animation = 1
	Bool start animation. More...
Eigen::Matrix3d	m_camera_center
	Camera matrix. More...

Detailed Description

Class KinematicAnimation.

This class implements the kinematic animation for the hand.

Definition at line 15 of file kinematic_animation.h.

Constructor & Destructor Documentation

KinematicAnimation()

KinematicAnimation::KinematicAnimation ( )

inline

Constructor.

Definition at line 19 of file kinematic_animation.h.

{};

Member Function Documentation

animation_loop()

bool KinematicAnimation::animation_loop

(

igl::opengl::glfw::Viewer &

viewer

)

Animation loop callback.

This is the main animation callback function. This is where the rendering is happening. The function is passed as a lambda function to the Viewer handler (see main.cpp).

Parameters

viewer

Reference to the viewer handle.

Returns

true Animation should stop.

false Animations keeps playing.

Definition at line 36 of file kinematic_animation.cpp.

{
    if (viewer.core().is_animating)
    {
        viewer.core().align_camera_center(m_camera_center);
 
        // Initialize if ports are set
        if (m_menu_handler->are_ports_set() && m_initialize_animation)
        {
            // Setup exoskeleton
            setup_exoskeletons(viewer);
 
            // Dont initialize animations again
            m_initialize_animation = 0;
        }
 
        if(m_menu_handler->are_ports_set())
        {
            // Get euler angles
            auto euler_id =
                m_anim_hand->get_hand_angles(m_left_exo->get_joint_angles());
            
            // Update left hand
            m_left_hand.update(euler_id, viewer);
            
            // Update right hand
            m_right_hand.update(euler_id, viewer);
        }
    } 
    return false;
}

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initialize()

void KinematicAnimation::initialize	(	igl::opengl::glfw::Viewer *	viewer,
		Exoskeleton *	left_exo,
		AnimatedHand *	anim_hand,
		MenuHandler *	menu_handler
	)

Initialize animation.

Initializes kinematics animation by copying the input arguments to the member variables.

Parameters

viewer	Pointer to the igl Viewer object.
left_exo	Pointer to the left exoskeleton object.
anim_hand	Pointer to the animated hand object.
menu_handler	Pointer to menu handler object.

Definition at line 11 of file kinematic_animation.cpp.

{
    // Get exoskeleton handler pointer
    m_left_exo = left_exo;
 
    // Get animation hand pointer
    m_anim_hand = anim_hand;
 
    // Get menu handler pointer
    m_menu_handler = menu_handler;
 
    // Set camera center
    m_camera_center << -0.1, -0.1, 0.0, 0.1, -0.1, 0.0, 0.0, 0.1, 0.0;
}

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setup_exoskeletons()

void KinematicAnimation::setup_exoskeletons ( igl::opengl::glfw::Viewer &  viewer )

private

Setup exoskeletons.

This function setups the exoskeletons. It initializes the serial communications, the exoskeleton and the hand objects.

Parameters

viewer

A reference to the viewer handle.

Definition at line 73 of file kinematic_animation.cpp.

{
   // Define serial COM for left exoskeleton
    std::string serial_com_left = m_menu_handler->get_left_exoskeleton_port();
 
   // Define serial COM for right exoskeleton
    std::string serial_com_right = m_menu_handler->get_right_exoskeleton_port();
 
    // Define baudrate
    unsigned int baud_rate = 115200;
    
    // Initialize left exoskeleton
    m_left_exo->initialize(serial_com_left, baud_rate);
 
    // Initialize right exoskeleton (to be done)
 
    // Initialize left hand 
    m_left_hand.initialize(&viewer, m_left_exo, m_anim_hand, 0, m_left_origin);
 
    // Initialize right hand
    m_right_hand.initialize(&viewer, m_left_exo, m_anim_hand, 1, m_right_origin);
}

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Member Data Documentation

m_anim_hand

AnimatedHand* KinematicAnimation::m_anim_hand

private

Animated hand pointer.

Definition at line 36 of file kinematic_animation.h.

m_camera_center

Eigen::Matrix3d KinematicAnimation::m_camera_center

private

Camera matrix.

Definition at line 57 of file kinematic_animation.h.

m_initialize_animation

bool KinematicAnimation::m_initialize_animation = 1

private

Bool start animation.

Definition at line 51 of file kinematic_animation.h.

m_left_exo

Exoskeleton* KinematicAnimation::m_left_exo

private

Exoskeleton handler pointer.

Definition at line 33 of file kinematic_animation.h.

m_left_hand

Hand KinematicAnimation::m_left_hand

private

Left and right hand.

Definition at line 42 of file kinematic_animation.h.

m_left_origin

Eigen::Vector3d KinematicAnimation::m_left_origin = Eigen::Vector3d(0.0, 0.2, 0.0)

private

Left hand origin.

Definition at line 45 of file kinematic_animation.h.

m_menu_handler

MenuHandler* KinematicAnimation::m_menu_handler

private

Menu handler pointer.

Definition at line 39 of file kinematic_animation.h.

m_right_hand

Hand KinematicAnimation::m_right_hand

private

Definition at line 42 of file kinematic_animation.h.

m_right_origin

Eigen::Vector3d KinematicAnimation::m_right_origin = Eigen::Vector3d(0.0, -0.2, 0.0)

private

Right hand origin.

Definition at line 48 of file kinematic_animation.h.

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

• include/kinematic_animation.h
• src/kinematic_animation.cpp