rofunc.devices.xsens.src.load_mvnx#

Script to load an mvnx

1.  Module Contents#

1.1.  Functions#

load_mvnx

This function opens and reads the file as an mvnx formatted XML file

parse_sensor

Parse the sensor element

parse_joints

Parse the joint element

parse_ergo_joints

Parse the ergo joint element

parse_segments

Parse the segment element

get_connector_indices

parse_frames

Parse the frames element

get_joint_data_from_frame

Extract joint data from a frame

get_t_pose_data_from_frame

Extract segment data from a frame

get_segment_data_from_frame

Extract segment data from a frame

get_sensor_data_from_frame

Extract sensor data from a frame

get_finger_data_from_frame

Extract finger data from a frame

get_contact_data_from_frame

Extract contact data from a frame

frame_element_as_floats

Find a named element in a frame element, extract the text from it, split that and return the values as an array of floats

get_4d_vector

get_3d_vector

init_file_data

1.2.  Data#

ns

FOOT_CONTACT_MAP

1.3.  API#

rofunc.devices.xsens.src.load_mvnx.ns = None#
rofunc.devices.xsens.src.load_mvnx.FOOT_CONTACT_MAP = None#
rofunc.devices.xsens.src.load_mvnx.load_mvnx(file_name)[source]#

This function opens and reads the file as an mvnx formatted XML file

Parameters:

file_name – Name of the file to open, must have full path and .mvnx extension

Returns:

A dictionary with the data from the mvnx file

rofunc.devices.xsens.src.load_mvnx.parse_sensor(sensors_element, segment_names)[source]#

Parse the sensor element

Parameters:

  • sensors_element – The joint element to parse

  • segment_names – a list with the segment names

Returns:

a dictionary with sensor data indexed by sensor name and a list with the sensor names

rofunc.devices.xsens.src.load_mvnx.parse_joints(joints_element, segments)[source]#

Parse the joint element

Parameters:

  • joints_element – The joint element to parse

  • segments – The dictionary with segment data

Returns:

a dictionary with joint data indexed by joint name and a list with the joint names

rofunc.devices.xsens.src.load_mvnx.parse_ergo_joints(ergo_joints_element)[source]#

Parse the ergo joint element

Parameters:

ergo_joints_element – The joint element to parse

Returns:

a dictionary with ergo joint data indexed by joint name and a list with the ergo joint names

rofunc.devices.xsens.src.load_mvnx.parse_segments(segment_elements)[source]#

Parse the segment element

Parameters:

segment_elements – The segment element to parse

Returns:

a dictionary a list with the segment names and segment data indexed by segment name

rofunc.devices.xsens.src.load_mvnx.get_connector_indices(joint_element, connector, segments)[source]#
rofunc.devices.xsens.src.load_mvnx.parse_frames(frames_element, mvnx_file)[source]#

Parse the frames element

Parameters:

  • frames_element – The frames element to parse

  • mvnx_file – a dictionary containing, among others, a list of names

Returns:

a dictionary with frames data

rofunc.devices.xsens.src.load_mvnx.get_joint_data_from_frame(frame_element, joint_element_name, joint_names)[source]#

Extract joint data from a frame

Parameters:

  • frame_element – The frame element to process

  • joint_element_name – The name of the frame element to process

  • joint_names – a list with the joint names

Returns:

a dictionary with joint data indexed by joint name

rofunc.devices.xsens.src.load_mvnx.get_t_pose_data_from_frame(frame_element, segment_names)[source]#

Extract segment data from a frame

Parameters:

  • frame_element – The frame element to process

  • segment_names – a list with the segment names

Returns:

a dictionary with segment data indexed by segment name

rofunc.devices.xsens.src.load_mvnx.get_segment_data_from_frame(frame_element, segment_names)[source]#

Extract segment data from a frame

Parameters:

  • frame_element – The frame element to process

  • segment_names – a list with the segment names

Returns:

a dictionary with segment data indexed by segment name

rofunc.devices.xsens.src.load_mvnx.get_sensor_data_from_frame(frame_element, sensor_names)[source]#

Extract sensor data from a frame

Parameters:

  • frame_element – The frame element to process

  • sensor_names – a list with the segment names

Returns:

a dictionary with sensor data indexed by sensor name

rofunc.devices.xsens.src.load_mvnx.get_finger_data_from_frame(frame_element, finger_segment_names)[source]#

Extract finger data from a frame

Parameters:

  • frame_element – The frame element to process

  • finger_segment_names – a list with the finger segment names

Returns:

a dictionary with finger data indexed by finger name

rofunc.devices.xsens.src.load_mvnx.get_contact_data_from_frame(frame_element, foot_contact_def)[source]#

Extract contact data from a frame

Parameters:

  • frame_element – The frame element to process

  • foot_contact_def – a list with the foot contact definitions

Returns:

a list with contacts

rofunc.devices.xsens.src.load_mvnx.frame_element_as_floats(frame_element, element)[source]#

Find a named element in a frame element, extract the text from it, split that and return the values as an array of floats

Parameters:

  • frame_element – The mvnx frame element to process

  • element – The name of the sub element to find

Returns:

an array of floating point values

rofunc.devices.xsens.src.load_mvnx.get_4d_vector(raw_vector, index)[source]#
rofunc.devices.xsens.src.load_mvnx.get_3d_vector(raw_vector, index)[source]#
rofunc.devices.xsens.src.load_mvnx.init_file_data(mvnx_file)[source]#