def getMocapTraj(self, filename ):
'''
Looks up a csv filename for mocap trajectory and if successful, returns times,
and 4x4 transforms in world frame.
@ Params -> filename : CSV File with Mocap Data
@ Returns -> paths : list of 4x4 transforms found in traj file
times : vector of times corresponding to readings
'''
paths, times = datafiles.read_frame_trajectory_file(filename)
transforms = [np.identity(4) for i in paths]
for i in xrange(0, len(transforms)):
self.write_frame_record_to_transform(paths[i], transforms[i])
return (transforms, times)
import dfab
import dfab.mocap.datafiles as datafiles
# if debugging without Rhino, import the trivial emulation module
if no_rhino:
import dfab.debug.rhinoscriptsyntax as rs
else:
import rhinoscriptsyntax as rs
# Look for the data file in the sample data folder.
# N.B. this assumes that the dfab and dfab-data packages are installed in the same folder!
# This is reaching outside the dfab package proper.
filename = os.path.join( dfab.dfab_package_path(), "../dfab-data/motion_capture_example/2014-01-17-Wall-Sweep-with-Robot.traj" )
# load the trajectory data
path, timestamps = datafiles.read_frame_trajectory_file( filename )
# Create a list of Rhino 'plane' objects to return as a path.
planes = []
# Each Rhino 'plane' is constructed from an origin and two basis vectors using
# PlaneFromFrame. Syntax of the PlaneFromFrame operator:
# rs.PlaneFromFrame (origin, x_axis, y_axis)
for f in path:
origin = f[0]
xaxis = f[1]
yaxis = f[2]
planes.append( rs.PlaneFromFrame( origin, xaxis, yaxis ))
# Return the list in a global variable exposed in the Grasshopper interface.
