Warning: This site is obsolete.
Have a look at
DwarfUbitrackMigration to learn how the
PoseData structure changed.
Position and Orientation of an object; needs
DwarfCommon?.
Used by lot of services.
PoseData consists of the following fields as defined in
PoseData.idl:
-
double position[3], position in meters (cartesian coordinates)
-
double orientation[4] orientation (quaternions): x y z w
-
Time timestamp, the time this position was valid
Q::
big question: does it make sence to integrate also a scaling factor? for the virtual object registration in the
ProjectHeart this makes sence due to different scaling in the model and real world ART coordinate system. --
Jörg Traub - 25 Sept 2003
The following fields should be identical to the attributes of the
PoseData ability. Thus, a single receiver for multiple
PoseData events can differentiate between incoming events based on either the values within the events themselves or based on the session it receives them on. --
AsaMacWilliams - 07 Jan 2004
-
ThingID id, the Thing we are observing
-
ThingType type, the Type of Thing
The following fields are so far not really used by most services and are probably subject to change at some point.
-
double positionAccuracy, absolute error in meters. Note: negative accuracies will be interpreted as infinitely unaccurate!
-
double orientationAccuracy, average absolute error in radians
Q::
big question: where is the reference coordinate system? did we loose this at some point? --
MartinBauer - 22 Jul 2003
Known Issues
- make sure to explicitly set values for each and every entry in the data structure, or you will potentially crash other services. If you are a skilled hacker, or if you are simply bored one rainy november weekend, you may be able use this to create a buffer overflow attack. -- Main.Main.MartinBauer - 09 Sep 2003
Attributes to PoseData Abilities
Not yet used. This is Design from the Dwarf-Studierstube workshop. --
MartinBauer - 24 Jul 2003
-
attribute name="ThingID", the Thing we are observing
-
attribute name="ThingType", the Type of Thing
-
attribute name="RelativeTo", the Parent Coordinate System
