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Data manipulation/transformation
Data in CoppeliaSim can transformed in various ways:
data packing/unpacking
linear algebra functionality
image processing
path data transformation
sim.transformBuffer
other matrix/transformation related functions
Following example illustrates how to pack/unpack data. Other functions can be found here:
-- Packing/unpacking specific type of data:
local data={1,2,3}
local binaryPackedData=sim.packDoubleTable(data) -- binary packing
data=sim.unpackDoubleTable(binaryPackedData) -- binary unpacking
base16=require('base16')
local base16PackedData=base16.encode(binaryPackedData) -- base16 encoding
binaryPackedData=base16.decode(base16PackedData) -- base16 decoding
base64=require('base64')
local base64PackedData=base64.encode(binaryPackedData) -- base64 encoding
binaryPackedData=base64.decode(base64PackedData) -- base64 decoding
local base64Buffer=sim.transformBuffer(binaryPackedData,sim.buffer_uint8,1,0,sim.buffer_base64)
local originalBuffer=sim.transformBuffer(base64Buffer,sim.buffer_base64,1,0,sim.buffer_uint8)
-- Packing/unpacking random data:
local data={1,'hello',{value='world'},{1,{2,3}}}
local binaryPackedData=sim.packTable(data) -- binary packing
data=sim.unpackTable(binaryPackedData) -- binary unpacking
cbor=require('cbor')
local cborPackedData=cbor.encode(data) -- cbor encoding
data=cbor.decode(cborPackedData) -- cbor decoding
More packing/unpacking functions can be found here.
Following example illustrates usage of the linear algebra functionality:
-- Get the absolute transformation matrices of an object and its parent:
local absObj=Matrix4x4:frompose(sim.getObjectPose(objectHandle,-1))
local absParentObj=Matrix4x4:frompose(sim.getObjectPose(parentHandle,-1))
-- Compute the relative transformation matrix of the object:
local relObj=Matrix4x4:inv(absParentObj)*absObj
-- Get the relative transformation matrix of the object directly:
local relObj2=Matrix4x4:frompose(sim.getObjectPose(objectHandle,parentHandle))
-- Check that both matrices are same:
print(relObj:sub(relObj2):abs():max())
The documentation for the linear algebra functionality can be found here.
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