User's Manual

Document MV0319P.N
© Xsens Technologies B.V.
MVN User Manual
83
The selection in the preferences menu determines the MVNX contents. Orientation and Position are
mandatory, all others are optional and may depend on the license.
<frame time= “…” index="frame number" tc="15:57:47:02" ms="1418227067039" type =“normal”>
<orientation>
GB
q
seg1
GB
q
seg2
…etc…
GB
q
seg23
</orientation>
<position>
G
pos
seg1
G
pos
seg2
…etc…
G
pos
seg23
</position>
<velocity>
G
v
seg1
G
v
seg2
…etc…
G
v
seg23
</velocity>
<acceleration>
G
a
seg1
G
a
seg2
…etc…
G
a
seg23
</acceleration>
<angularVelocity>
G
w
seg1
G
w
seg2
…etc…
G
w
seg23
</ angularVelocity >
<angularAcceleration>
G
aw
seg1
G
aw
seg2
…etc…
G
aw
seg23
</angularAcceleration>
<sensorAcceleration>
S
a
sen1
S
a
sen2
…etc…
S
a
sen17
</sensorAcceleration>
<sensorAngularVelocity>
S
w
sen1
S
w
sen2
…etc…
S
w
sen17
</sensorAngularVelocity>
<sensorMagneticField>
S
m
sen1
S
m
sen2
…etc…
S
m
sen17
</sensorMagneticField>
<sensorOrientation>
GS
q
sen1
GS
q
sen2
…etc…
GS
q
sen17
</sensorOrientation>
<jointAngle>j
jnt1
j
jnt2
…etc… j
jnt22
</jointAngle>
<jointAngleXZY>J
jntx1
J
jntx2
…etc… J
jntx22
</jointAngleXZY>
<centerOfMass>
G
C
seg1
G
C
seg2
…etc…
G
C
seg23
</centerOfMass>
<marker>“name” </ marker name>
</frame>
For the elements represented below with a subscript “seg”, the set will contain the number of segments
(segmentCount) times the number of columns of data. For a full body, this is 23 segments.
Subscript “sen” contains the number of MT’s (sensorCount) times the number of columns of data. For a
full body, this is 17.
Subscript “jnt” contains the number of joints (jointCount) times the number of columns of data. For a full
body, this is 22 joints.
GB
q
seg
1x4 quaternion vector (q
0
, q
1
, q
2
, q
3
) describing the orientation of the segment in
the global frame.
G
pos
seg
1x3 position vector (x, y, z) of the origin of the segment in the global frame in [m].
G
v
seg
1x3 velocity vector (x, y, z) of the origin of the segment in the global frame in [m/s].
G
a
seg
1x3 acceleration vector (x, y, z) of the origin of the segment in the global frame in
[m/s
2
].
G
w
seg
1x3 angular velocity vector (x, y, z) of the segment in the global frame in [rad/s].
G
aw
seg
1x3 angular acceleration vector (x, y, z) of the origin of the segment in the global
frame in [rad/s
2
].
S
a
sen
1x3 sensor acceleration vector (x, y, z) of the sensor in [acc/s
2
].
S
w
sen
1x3 sensor angular velocity vector (x, y, z) of the sensor in [rad/s].
S
m
sen
1x3 sensor magnetic field vector (x, y, z) of the sensor in [a.u.].
GS
q
sen
1x4 sensor orientation quaternion (q
0
, q
1
, q
2
, q
3
) of the sensor in the global frame
in.
j
jnt
1x3 Euler representation of the joint angle vector (x, y, z) in [deg], calculated using
the Euler sequence ZXY.
J
jntx
1x3 Euler representation of the joint angle vector (x, y, z) in [deg], calculated using
the Euler sequence XZY.
Note: The joint angle using Euler sequence XZY is calculated and exported for all
joints, but commonly only used for the shoulder joints, and it may depend on the
movement of the shoulder if it is appropriate to use.
G
C
seg
1x3 position of the body Center of Mass (x,y,z) in the global frame in [m].