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Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

DWARF::PoseData Struct Reference
[Ubiquitous Tracking Environment]

The structure for the position data. More...

Inheritance diagram for DWARF::PoseData:

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Data Fields

boolean hasPosition
boolean hasOrientation
UTObjectID source
UTObjectID target
pos3d position
 Position of the target object.
quaternion orientation
 Orientation of the target object.
Time timestamp
 Timestamp of the measurement.
double confidence
 Confidence value of the measurement.
covarMatrix6x6 covariance
 The covariance matrix of the measurement.
double timeError

Detailed Description

The structure for the position data.

This structure defines the data which is delivered between the tracking components. So we are talking about the Sensor-API level. This is mainly discussed at http://wwwbruegge.in.tum.de/projects/lehrstuhl/twiki/bin/view/DWARF/SensorAPI

However as first step this data is also delivered to the application, which is the Query-API level. This is not neccessary the case in future implementations.

Definition at line 130 of file PoseData.idl.


Field Documentation

double DWARF::PoseData::confidence
 

Confidence value of the measurement.

A statistical value giving the probability that this measurement exists.

Definition at line 177 of file PoseData.idl.

covarMatrix6x6 DWARF::PoseData::covariance
 

The covariance matrix of the measurement.

A 6x6 covariance matrix parameterizing the Gaussian error distribution of the measured position and orientation. The hasPosition/hasOrientation fields define which entries are valid.

Definition at line 187 of file PoseData.idl.

boolean DWARF::PoseData::hasOrientation
 

is the orientation field valid?

Definition at line 135 of file PoseData.idl.

boolean DWARF::PoseData::hasPosition
 

is the position field valid?

Definition at line 132 of file PoseData.idl.

quaternion DWARF::PoseData::orientation
 

Orientation of the target object.

Orientation of the target object in 3D space, based on the source object's coordinate system. Given as a quaternion with the scalar of the quaternion being stored in orientation[3]

Definition at line 160 of file PoseData.idl.

pos3d DWARF::PoseData::position
 

Position of the target object.

Position of the target object in 3D space, based on the source object's coordinate system.

Definition at line 150 of file PoseData.idl.

UTObjectID DWARF::PoseData::source
 

The object ID of the source object

Definition at line 138 of file PoseData.idl.

UTObjectID DWARF::PoseData::target
 

The object ID of the target object

Definition at line 141 of file PoseData.idl.

double DWARF::PoseData::timeError
 

Standard deviation of measurement time

Definition at line 190 of file PoseData.idl.

Time DWARF::PoseData::timestamp
 

Timestamp of the measurement.

The time the position expressed is valid, a pair of seconds and nanoseconds, based on the standard UNIX time format.

Definition at line 169 of file PoseData.idl.

DWARF::PoseData Struct Reference | generated on Sun Apr 29 02:02:03 2007 by Doxygen 1.4.1 for DWARF