Version 22 (modified by welberge, 6 years ago) (diff)




List of currently provided Ipaaca component interfaces

interfacesend categoriesrecv categoriesimplementations
AnimatablejointDataConfigRequestjointDataConfigReply,jointDatabillie ogre environment, hmi.ipaacarenderenvironment
Animation ProviderjointDataConfigReply, jointDatajointDataConfigRequestAce, AsapRealizer (through an asap.ipaacaembodiments.IpaacaEmbodiment, setup with IpaacaEmbodimentLoader)
BML RealizerbmlfeedbackbmlAsapRealizer (with IpaacaToBMLRealizerAdapterLoader)
BML Provider (the part of the behavior planner that communicates with a realizer)bmlbmlfeedbackBMLRealizerToIpaacaAdapter (used in e.g. asap.realizerdemo.AsapRealizerPortToIpaacaDemo)

List of currently provided categories and payloads


A jointDataConfigRequests provides an Animation Provider information about the animation properties of an Animatable.

payloadpayload format
morphslist of available morph targets, separated by comma
jointslist of joint names, separated by comma
joint_parentslist of parent names for each joint, separated by comma, no parent is annotated as "-"
joint_translationscomma separated list of joint translations, local to their parent, each translation contains 3 floats separated by space
joint_rotationscomma separated list of joint rotations, local to their parent, each rotation contains 4 floats separated by space. The 4 floats represent the rotation quaternion in w x y z order


Provides an Animatable with information about the joints and morphs that are to be animated.

payloadpayload format
joints_providedcomma separated list of provided joints
joints_not_providedcomma separated list of not provided joints
morphs_providedcomma separated list of provided morph targets
morphs_not_providedcomma separated list of not provided morph targets


payloadpayload format
joint_dataComma separated list of joint transformations. Each joint transformation provide 2 4x4 matrices, first a 4x4 matrix specifying the local transformation, then one specifying the global transformation. Each transformation consists of 16 floats, separated by spaces, indicating the transformation matrix in column-order (that is, the first 4 floats form the top column etc.).
morph_datacomma separated list of integers indicating morph value in %. These morph values are for the morphs_provided in jointDataConfigReply.


payloadpayload format
bml| BML 1.0 XML string


payloadpayload format