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DOS/V Power Report 2003 March
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libMTN
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MTN-FFORM-J.txt
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2002-12-19
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MTNファイルフォーマット
■機能
- Robot用モーションデータ情報を提供する
■byte order
little endian
■データ型定義
type:Strings は以下のような構成となっている.
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 1 uc length
1 x ch characters
length:
文字列の文字数
characters:
文字列データ
■File Format
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 1 ch magic 0 'O'
1 1 ch magic 1 'M'
2 1 ch magic 2 'T'
3 1 ch magic 3 'N'
4 24 cp Section 0
28 x cp Section 1
x x cp Section 2
x x cp Section 3
magic 0-3:
ファイルマジック
1. Section 0
Section0 は基本的な項目のヘッダで,固定長である.
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 4 lw Section Number 0
4 4 lw Section Size 24
8 4 lw Number of Section 4
12 2 wd Major Version 1
14 2 wd Minor Version 2
16 2 wd Number of keyframe
18 2 wd Frame Rate 16
20 4 lw Reserved 0
Section Number:
SectionのシリアルNo.
Section Size:
Sectionの大きさ(byte)
Number of Section:
ファイルに含まれるSection数
Major Version:
Formatのメジャーバージョン番号
Minor Version:
Formatのマイナーバージョン番号
Number of keyframe:
ファイル内のkeyframeの数
Frame Rate:
Motionの再生速度 [msec/frame]
2. Section 1
Section1 は基本的な名称を記述するのヘッダで,可変長である.
◆注意:Section Sizeが 4 byte区切り等にならない場合には,paddingする.
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 4 lw Section Number 1
4 4 lw Section Size
8 x Strings Motion Name
x x Strings Creator
x x Strings Design Label
x 0-3 Padding 0
Section Number:
SectionのシリアルNo.
Section Size:
Sectionの大きさ(byte)
Motion Name:
Motion Nameは,mtnファイル名の拡張子より前の文字列
Creator:
作者名
Design Label:
ロボットのデザインラベル
3. Section 2
Section2 はJoint Listを記述するのヘッダで,可変長である.
◆注意:Section Sizeが 4 byte区切り等にならない場合には,paddingする.
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 4 lw Section Number 2
4 4 lw Section Size
8 2 wd Number of Joint
x x Strings PRM 0
x x Strings PRM 1
x x ....
x x Strings PRM (Number of Joint -1)
x 0-3 Padding 0
Section Number:
SectionのシリアルNo.
Section Size:
Sectionの大きさ(byte)
Number of Joint:
ファイル内で扱うJointの数
PRM:
ファイル内で扱うJointのCPC Primitive Locator名.
4. Section 3
Section3 にはMotion Dataを記述し,可変長である.
◆注意:Section Sizeが 4 byte区切り等にならない場合には,paddingする.
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 4 lw Section Number 3
4 4 lw Section Size
8 4 lw Data Type 0
12 x cp Data Section
Section Number:
SectionのシリアルNo.
Section Size:
Sectionの大きさ(byte)
Data Type:
Motion Data の種類(現在、0 のみをサポート)
0: 角度列データ
1: 軌跡データ
4-1. Data Section
Data Type 0 の場合,Data Fomratは以下のような構成となる.
[Roll] [Pitch] [Yaw]
[Joint Data]
{
[Number of Interpolate frame]
[Roll] [Pitch] [Yaw]
[Joint Data]
} X (Number of Keyframe - 1)
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 4 lw Roll
4 4 lw Pitch
8 4 lw Yaw
12 x cp Joint Data Section
x 4 lw Number of Interpolate frame
.....
Roll:
Robot BODY座標系のroll [Micro radian](右に傾くと正)
Pitch:
Robot BODY座標系pitch [Micro radian](後に傾くと正)
Yaw:
Robot BODY座標系のyaw [Micro radian](左に向くと正)
Joint Data Section:
ジョイントデータの値がSection 2のStrings PRM の順序で
記述される
Number of Interpolate frame:
前フレームとの補間フレーム数
4-1-1. Joint Data Section
offset size type contents data
-------+-------+-------+-------------------------------+-------
0 4 lw Joint Data 0
4 4 lw Joint Data 1
.....
x 4 lw Joint Data [Number of Joint]
Joint data:
ジョイントのデータ の値を[Micro radian]で記述する.
■実例
ADDRESS : +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F 0123456789ABCDEF
+0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F
-------------------------------------------------
00000000 : 4F 4D 54 4E 00 00 00 00 18 00 00 00 04 00 00 00 : OMTN............
00000010 : 01 00 02 00 06 00 10 00 00 00 00 00 01 00 00 00 : ................
00000020 : 30 00 00 00 0D 61 5F 73 74 61 6E 64 23 73 69 74 : 0....a_stand#sit
00000030 : 5F 53 10 53 6F 6E 79 20 43 6F 72 70 6F 72 61 74 : _S.Sony Corporat
00000040 : 69 6F 6E 07 44 52 58 2D 39 31 30 00 02 00 00 00 : ion.DRX-910.....
00000050 : F8 01 00 00 14 00 14 50 52 4D 3A 2F 72 31 2F 63 : .......PRM:/r1/c
00000060 : 31 2D 4A 6F 69 6E 74 32 3A 6A 31 17 50 52 4D 3A : 1-Joint2:j1.PRM:
00000070 : 2F 72 31 2F 63 31 2F 63 32 2D 4A 6F 69 6E 74 32 : /r1/c1/c2-Joint2
00000080 : 3A 6A 32 1A 50 52 4D 3A 2F 72 31 2F 63 31 2F 63 : :j2.PRM:/r1/c1/c
00000090 : 32 2F 63 33 2D 4A 6F 69 6E 74 32 3A 6A 33 1D 50 : 2/c3-Joint2:j3.P
000000A0 : 52 4D 3A 2F 72 31 2F 63 31 2F 63 32 2F 63 33 2F : RM:/r1/c1/c2/c3/
000000B0 : 63 34 2D 4A 6F 69 6E 74 32 3A 6A 34 1D 50 52 4D : c4-Joint2:j4.PRM
000000C0 : 3A 2F 72 31 2F 63 31 2F 63 32 2F 63 33 2F 65 31 : :/r1/c1/c2/c3/e1
000000D0 : 2D 4A 6F 69 6E 74 33 3A 6A 35 1D 50 52 4D 3A 2F : -Joint3:j5.PRM:/
000000E0 : 72 31 2F 63 31 2F 63 32 2F 63 33 2F 65 32 2D 4A : r1/c1/c2/c3/e2-J
000000F0 : 6F 69 6E 74 33 3A 6A 36 14 50 52 4D 3A 2F 72 32 : oint3:j6.PRM:/r2
00000100 : 2F 63 31 2D 4A 6F 69 6E 74 32 3A 6A 31 17 50 52 : /c1-Joint2:j1.PR
00000110 : 4D 3A 2F 72 32 2F 63 31 2F 63 32 2D 4A 6F 69 6E : M:/r2/c1/c2-Join
00000120 : 74 32 3A 6A 32 1A 50 52 4D 3A 2F 72 32 2F 63 31 : t2:j2.PRM:/r2/c1
00000130 : 2F 63 32 2F 63 33 2D 4A 6F 69 6E 74 32 3A 6A 33 : /c2/c3-Joint2:j3
00000140 : 14 50 52 4D 3A 2F 72 33 2F 63 31 2D 4A 6F 69 6E : .PRM:/r3/c1-Join
00000150 : 74 32 3A 6A 31 17 50 52 4D 3A 2F 72 33 2F 63 31 : t2:j1.PRM:/r3/c1
00000160 : 2F 63 32 2D 4A 6F 69 6E 74 32 3A 6A 32 1A 50 52 : /c2-Joint2:j2.PR
00000170 : 4D 3A 2F 72 33 2F 63 31 2F 63 32 2F 63 33 2D 4A : M:/r3/c1/c2/c3-J
00000180 : 6F 69 6E 74 32 3A 6A 33 14 50 52 4D 3A 2F 72 34 : oint2:j3.PRM:/r4
00000190 : 2F 63 31 2D 4A 6F 69 6E 74 32 3A 6A 31 17 50 52 : /c1-Joint2:j1.PR
000001A0 : 4D 3A 2F 72 34 2F 63 31 2F 63 32 2D 4A 6F 69 6E : M:/r4/c1/c2-Join
000001B0 : 74 32 3A 6A 32 1A 50 52 4D 3A 2F 72 34 2F 63 31 : t2:j2.PRM:/r4/c1
000001C0 : 2F 63 32 2F 63 33 2D 4A 6F 69 6E 74 32 3A 6A 33 : /c2/c3-Joint2:j3
000001D0 : 14 50 52 4D 3A 2F 72 35 2F 63 31 2D 4A 6F 69 6E : .PRM:/r5/c1-Join
000001E0 : 74 32 3A 6A 31 17 50 52 4D 3A 2F 72 35 2F 63 31 : t2:j1.PRM:/r5/c1
000001F0 : 2F 63 32 2D 4A 6F 69 6E 74 32 3A 6A 32 1A 50 52 : /c2-Joint2:j2.PR
00000200 : 4D 3A 2F 72 35 2F 63 31 2F 63 32 2F 63 33 2D 4A : M:/r5/c1/c2/c3-J
00000210 : 6F 69 6E 74 32 3A 6A 33 14 50 52 4D 3A 2F 72 36 : oint2:j3.PRM:/r6
00000220 : 2F 63 31 2D 4A 6F 69 6E 74 32 3A 6A 31 14 50 52 : /c1-Joint2:j1.PR
00000230 : 4D 3A 2F 72 36 2F 63 32 2D 4A 6F 69 6E 74 32 3A : M:/r6/c2-Joint2:
00000240 : 6A 32 00 00 03 00 00 00 48 02 00 00 00 00 00 00 : j2......H.......
00000250 : 00 00 00 00 5A 88 00 00 00 00 00 00 00 00 00 00 : ....Z...........
00000260 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
00000270 : 00 00 00 00 3B 56 FD FF 00 00 00 00 50 FD 07 00 : ....;V......P...
00000280 : D3 BB FF FF 00 00 00 00 6D A8 06 00 3B 56 FD FF : ........m...;V..
00000290 : 00 00 00 00 51 FD 07 00 00 00 00 00 00 00 00 00 : ....Q...........
000002A0 : 6E A8 06 00 00 00 00 00 00 00 00 00 3C 00 00 00 : n...........<...
000002B0 : 00 00 00 00 F0 66 FE FF 00 00 00 00 28 36 F7 FF : ..........(6..
000002C0 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
000002D0 : 00 00 00 00 BE 14 F5 FF 00 00 00 00 5D A0 1E 00 : ............]...
000002E0 : CD AD F6 FF 00 00 00 00 D2 4C 19 00 EB 58 F5 FF : .........L..X..
000002F0 : 00 00 00 00 5D A0 1E 00 CE AD F6 FF 00 00 00 00 : ....]...........
00000300 : D2 4C 19 00 00 00 00 00 00 00 00 00 32 00 00 00 : .L..........2...
00000310 : 00 00 00 00 A8 FE 03 00 00 00 00 00 28 36 F7 FF : ............(6..
00000320 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
00000330 : 00 00 00 00 CE AD F6 FF 00 00 00 00 0D A3 16 00 : ................
00000340 : 26 AF F2 FF 00 00 00 00 08 26 27 00 CE AD F6 FF : &........&'.....
00000350 : 00 00 00 00 0D A3 16 00 26 AF F2 FF 00 00 00 00 : ........&.......
00000360 : 08 26 27 00 00 00 00 00 00 00 00 00 28 00 00 00 : .&'.........(...
00000370 : 00 00 00 00 E2 54 01 00 00 00 00 00 80 43 F8 FF : ....禝.......C..
00000380 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
00000390 : 00 00 00 00 11 F6 F7 FF 00 00 00 00 99 D9 1E 00 : .....・.....叨..
000003A0 : AA 50 ED FF 00 00 00 00 05 92 25 00 B0 02 F8 FF : .P........%.....
000003B0 : 00 00 00 00 5D A0 1E 00 9B 5B ED FF 00 00 00 00 : ....]...媼......
000003C0 : 05 92 25 00 00 00 00 00 00 00 00 00 32 00 00 00 : ..%.........2...
000003D0 : 00 00 00 00 30 CB 04 00 00 00 00 00 70 C9 F8 FF : ....0.......p...
000003E0 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
000003F0 : 00 00 00 00 95 87 FA FF 00 00 00 00 B2 6F 15 00 : ....芙.......o..
00000400 : 78 C0 EA FF 00 00 00 00 21 C9 24 00 76 AC FA FF : x.......!.$.v...
00000410 : 00 00 00 00 2A 4E 15 00 15 C6 EA FF 00 00 00 00 : ....*N..........
00000420 : 21 C9 24 00 00 00 00 00 00 00 00 00 64 00 00 00 : !.$.........d...
00000430 : 00 00 00 00 AA 85 08 00 00 00 00 00 93 57 F9 FF : ............展..
00000440 : 00 00 00 00 00 00 00 00 78 33 FF FF 00 00 00 00 : ........x3......
00000450 : 00 00 00 00 00 00 00 00 00 00 00 00 C4 A9 02 00 : ................
00000460 : 12 08 E8 FF 00 00 00 00 E4 F3 23 00 19 D7 FF FF : ........蔘#.....
00000470 : 00 00 00 00 AE D2 02 00 0F 08 E8 FF 00 00 00 00 : ................
00000480 : EC F3 23 00 00 00 00 00 00 00 00 00 : #.........
-------------------------------------------------
+0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F