model.motdsl

// This document illustrates the syntax of the input files for the CtGen tool.
// I called this language "MotionsDSL".
// Every MotionsDSL document is a list of specification of rigid motions (or
// relative poses - the same thing in this context).

// First we give a name to this model
Model CtgenSample

// Choose how the motion-steps in the sequences below have to be interpreted.
Convention = currentFrame
// In this case, all motion-steps are with reference to the current, moving
// frame. The alternative is 'fixedFrame'.

// Now we start listing the "motions". The format:
// <frame1> -> <frame2> : <steps>
// is interpreted as: to move from <frame1> to <frame2>, <steps> have to be
// taken.
// Here are some samples:

// A rotation about X followed by a translation along Y.
// Use float literals for constant amounts.
frameA -> frameB : rotx(0.2) try(3.1)

// Demonstrate the use of
// - an explicitly named constant, with syntax: 'c:<name>:<value>'
// - a PI expression (also constant)
frameB -> frameC : rotz( c:rz:0.6 ) roty( pi /2 )

// Demonstrate the use of parameters, and parameter expressions.
// The basic format is: 'p:<name>'
// Note that a parameter (like 'my_tr') does not need to be the sole argument
// of a motion step, as it may be part of an expression.
frameC -> frameD : trz(p:my_tr/2)  trx(p:my_tr/2) roty( p:my_rot )
frameD -> frameE : rotz(p:my_rot) rotx(2*p:my_rot)

// Demonstrate the use of variables. Regular identifiers (no special syntax)
// are considered variables.
frameE -> frameF : rotx(q0)
frameF -> frameG : roty(q1) trz(q2)

// Variables and a parameter.
frameG -> frameH : rotx(q0) trz( p:my_tr ) roty(q1)