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Update seq documentation to add loadPattern file format #385

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Nov 1, 2014
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Update seq documentation to add loadPattern file format #385

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23 changes: 23 additions & 0 deletions rtc/SequencePlayer/SequencePlayer.txt
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Expand Up @@ -15,6 +15,29 @@ This component can interpolate motion patterns at specific joint groups.
\subsection inversekinematics Simple inverse kinematics
Simple inverse kinematics is implemented (\ref OpenHRP::SequencePlayerService::setTargetPose).

\subsection loadpattern LoadPattern
This component can output reference motion sequence from input motion
sequence files using (\ref OpenHRP::SequencePlayerService::loadPattern). <br>
Input files should be <code>[basename].[extensions]</code>. Not all files are
required, for example, users can use loadPattern just for <code>.pos</code>. <br>
All files includes timestamp in seconds and data sequence. If
the differences between timestamps <code>dt</code>, data sequence is interpolated.<br>
Basically, all data corresponds to Output Ports. To learn more about
this, please see Output Ports in this page.
<table>
<tr><td>Extention</td><td>Description</td><td>Data
length</td><td>Data format</td><td>unit of data sequence</td></tr>
<tr><td>.pos</td><td>Reference joint angles</td><td>Length of joint angles</td><td>TimeStamp JointAngle1 ... JointAngleN</td><td>[rad]</td></tr>
<tr><td>.zmp</td><td>Reference ZMP in the base frame</td><td>3</td><td>TimeStamp ZMPx ZMPy ZMPz</td><td>[m]</td></tr>
<tr><td>.gsens</td><td>Reference acceleration in the sensor frame</td><td>3</td><td>TimeStamp AccelX AccelY AccelZ</td><td>[m/^2]</td></tr>
<tr><td>.hip</td><td>Reference base link RPY in the world frame</td><td>3</td><td>TimeStamp Roll Pitch Yaw</td><td>[rad]</td></tr>
<tr><td>.waist</td><td>Reference base link 3D pos and RPY in the world frame</td><td>6</td><td>TimeStamp X Y Z Roll Pitch Yaw</td><td>[m] and [rad]</td></tr>
<tr><td>.torque</td><td>Reference joint torques</td><td>Length of joint torques</td><td>TimeStamp JointTorque1 ... JointTorqueN</td><td>[Nm]</td></tr>
<tr><td>.wrenches</td><td>Reference force/torque in the sensor frame</td><td>6 x [force/torque sensor number]</td><td>TimeStamp Fx0 Fy0 Fz0 Tx0 Ty0 Tz0 ... </td><td>[N] and [Nm]</td></tr>
<tr><td>.optionalData</td><td>Optional data</td><td></td><td>TimeStamp Data1 ... DataN </td><td></td></tr>
</table>
<br>

<table>
<tr><th>implementation_id</th><td>SequencePlayer</td></tr>
<tr><th>category</th><td>example</td></tr>
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