CHAPTER 4

Motion Modeling Projects

4.1. Overview

Motion Modeling Projects (MMP) consists of mainly six basic stages;

Selecting Project Type

Defining Path Creation Method
Defining and Modeling the Paths
Configuration Check
Animated or Static Trajectory Viewer Graphical Outputs
Combining Paths in Any Order to Create Final Trajectory

4.2. MMP Projects in 2D Cartesian Domain

Motion Modeling Projects (MMP) creation in 2D Cartesian domain starts with selection of New project
item from Project menu, which opens the New Project Creation dialog. (To create a new project select
Project > New)
New Project Creation form consists of fields for Project Name entry, Project Type selection and project
Folder selection. After properly naming the project and selecting Motion Modeling as Project Type,
Project Folder can be chosen from existing directories\folders or a specific folder to hold project items can
be created.
36 Chapter 4 Motion Modeling Projects

Clicking OK opens the Project Data-MMP form, the form in which the coordinate system for intended
project is selected, for 2D Motion Modeling Projects the selection is In 2D Cartesian Coordinates, and
by clicking Configure button the next dialog opened is Motion Modeler. (Select the first field In 2D
Cartesian Coordinates and click Configure)
 37

Motion Modeler dialog consist of fields for entry of Target Name, Sampling Time and Motion Modeling
Method, once the values are entered and method is selected, clicking Edit opens up the Path Modeler
(TMM-Cartesian) for individual path additions and modeling. (As an example for this case we have
named the target as Target1 with an aimed trajectory sampled at 0.3s)
Currently there are five methods for motion modeling;
By Known Functions and SPToM (KF-SPToM)
By TOP and SPToM (TOP-SPToM)
By SOP and SPToM (SOP-SPToM)
By V Vectors and SPToM (V-SPToM)
By A Vectors and SPToM (A-SPToM)
SPToM stands for Start Point plus Time of Motion, TOP stands for Third Order Polynomial, SOP stands
for Second order Polynomial, V and A Vectors stand for Velocity and Acceleration Vectors.

As an example we have selected the motion modeling method as By A Vectors and SPToM. Clicking
Edit brings the Path Modeler (TMM-Cartesian) form which is used for creating/adding paths for the
trajectory to be modeled.
Path addition is done by using left panel of the Path Modeler (TMM-Cartesian) form by using Add Path
and Model the Path menu items shown by right clicking the mouse on respective item. The right pane of
the form basically presents the entered data in Path Editor (TMM-Cartesian).
To add a path select first the Trajectory Segments item on left pane by left click and then right clicking
opens the context menu consisting of Add Path and Model the Path menu items, click Add Path, it
automatically adds a path, added path name appears on left pane under Trajectory Segments as Path1,
Path2 and so on), any number of targets can be added this way. (For the example case, we created two
paths Path1 and Path2)
38 Chapter 4 Motion Modeling Projects

Modeling those added paths done by selecting the path by first left clicking to select and then right
clicking on the chosen path and selecting Model the Path menu item, which opens Path Editor (TMM-
Cartesian). The right pane of the form basically shows the parameters of the model entered in Path Editor.

After adding paths, the next step is modeling them. Select path to be modeled by left click, and then right
clicking on selected path opens the context menu consisting of Add Path and Model the Path menu
items, select Model the Path which opens the Path Editor (TMM-Cartesian) form.
 39

Path Editor (TMM-Cartesian) is the editor which allows parameters to be entered using respective fields
and selections, for selected motion modeling method of A-Vectors and SPToM, the entries needed are
Initial Position by x and y coordinates, Time of Motion , Vx and Vy vectors, ax and ay vectors and the
name of the generated path which is saved in designated file path.

Once the path (in this example it is shown for Path 1 which is P1) is generated by clicking Generate
button, it can be plotted by clicking the Preview button. (first click Generate to generate the modeled
path, then click Preview to display output plot and then click Save to save the generated path to
designated location)
40 Chapter 4 Motion Modeling Projects

Repeating similar procedure for Path2, by first adding a path and then modeling the path this time with
different initial position values, velocity and accelerometer vectors produce a new path. (Select
Trajectory Segments on the left panel of Path Modeler (TMM-Cartesian) by left click, then by right click
select Add Path which adds Path2, select Path2 by left click, and then right click on selected item Path2
opens context menu consisting of Add Path and Model the Path, select Model the Path by left click, it
opens Path Editor(TMM-Cartesian) )

On Path Editor form click Generate to generate the Path2 with model parameters shown, then click
Preview to display the modeled path and then click Save to save generated path into designated location.
 41

The paths added and modeled this way can be combined to form the final trajectory. On Path Modeler
(TMM-Cartesian) form click Combine Paths, it opens Path Combiner form which is used for combining
paths generated to construct the final trajectory by selected combination of those paths. (since we added
and modeled two paths for this example clicking Combine Paths button on Path Modeler opens Path
Combiner dialog with two available paths.)

Main function of Path Combiner is generating combined paths from available paths defined by the order
of combination and number of paths to be combined. The paths can be aligned automatically by proper
selection and a new sampling time can be defined for the final trajectory which is the ordered combination
of available paths.
42 Chapter 4 Motion Modeling Projects

However, the final trajectory consisting of combination of those paths can be infinitely long (combined
trajectory consisting of two paths as P1+P2 and P2+ P1+P2+ P1+P2+ P1, but all combinations are
possible and combination number and consequently final trajectory length can go to very high numbers
allowed by platform and OS capability )
 43

4.3. MMP Projects in 3D Cartesian Domain

Motion Modeling Project (MMP) creation in 3D Cartesian domain starts with selection of New project
item from Project menu, which opens the New Project Creation dialog. (To create a new project select
Project > New)
As in the case of 2D MMP projects, New Project Creation form consists of fields for Project Name entry,
Project Type selection and project Folder selection. After properly naming the project and selecting
Motion Modeling as Project Type, Project Folder can be chosen from existing directories\folders or a
specific folder to hold project items can be created.

Clicking OK opens the Project Data-MMP form, the form in which the coordinate system for intended
project is selected, for 3D Motion Modeling Projects the selection is In 3D Cartesian Coordinates, and
by clicking Configure button the next dialog opened is Motion Modeler. (Select the second field In 3D
Cartesian Coordinates and click Configure)
Motion Modeler dialog consist of fields for entry of Target Name, Sampling Time and Motion Modeling
Method, once the values are entered and method is selected, clicking Edit opens up the Path Modeler
(TMM-Cartesian) for individual path additions and modeling. (As an example for this case we have
named the target as Target1 with an aimed trajectory sampled at 0.3s). Motion Modeling methods are
common for both 2D and 3D Cartesian coordinate system projects although some of the parameters differ
in 2D and 3D case, there are five methods for motion modeling;
By Known Functions and SPToM (KF-SPToM)
By TOP and SPToM (TOP-SPToM)
By SOP and SPToM (SOP-SPToM)
By V Vectors and SPToM (V-SPToM)
By A Vectors and SPToM (A-SPToM)
44 Chapter 4 Motion Modeling Projects

SPToM stands for Start Point plus Time of Motion, TOP stands for Third Order Polynomial, SOP stands
for Second order Polynomial, V and A Vectors stand for Velocity and Acceleration Vectors.

As an example we have selected the motion modeling method as By Known Functions and SPToM.
Clicking Edit brings the Path Modeler (TMM-Cartesian) form which is used for creating/adding paths for
the trajectory to be modeled.
Path addition is done by using left panel of the Path Modeler (TMM-Cartesian) form by using Add Path
and Model the Path menu items shown by right clicking the mouse on respective item. The right pane of
the form basically presents the entered data in Path Editor (TMM-Cartesian).
 45

Similar to 2D Cartesian Coordinate system based projects case, to add a path select first the Trajectory
Segments item on left pane by left click and then right clicking opens the context menu consisting of Add
Path and Model the Path menu items, click Add Path, it automatically adds a path, added path name
appears on left pane under Trajectory Segments as Path1, Path2 and so on), any number of targets can be
added this way. (For the example case, we created two paths Path1 and Path2)

Modeling those added paths done by selecting the path by first left clicking to select and then right
clicking on the chosen path and selecting Model the Path menu item, which opens Path Editor (TMM-
Cartesian). The right pane of the form basically shows the parameters of the model entered in Path Editor.

After adding paths, the next step is modeling them. Select path to be modeled by left click, and then right
clicking on selected path opens the context menu consisting of Add Path and Model the Path menu
items, select Model the Path which opens the Path Editor (TMM-Cartesian) form.
46 Chapter 4 Motion Modeling Projects

Path Editor (TMM-Cartesian) is the editor which allows parameters to be entered using respective fields
and selections, for selected motion modeling method of By Known Functions and SPToM, the entries
needed are Initial Position by x and y coordinates, Time of Motion , the Known Function and the name of
the generated path which is saved in designated file path.

Once the path (in this example it is shown for Path 1 which is P1) is generated by clicking Generate
button, it can be plotted by clicking the Preview button. (first click Generate to generate the modeled
path, then click Preview to display output plot and then click Save to save the generated path to
designated location)

Repeating similar procedure for Path2, by first adding a path and then modeling the path this time with
different initial position values, velocity and accelerometer vectors produce a new path. (Select
Trajectory Segments on the left panel of Path Modeler (TMM-Cartesian) by left click, then by right click
select Add Path which adds Path2, select Path2 by left click, and then right click on selected item Path2
 47

opens context menu consisting of Add Path and Model the Path, select Model the Path by left click, it
opens Path Editor(TMM-Cartesian) ). On Path Editor form click Generate to generate the Path2 with
model parameters shown, then click Preview to display the modeled path and then click Save to save
generated path into designated location.

The paths added and modeled this way can be combined to form the final trajectory. On Path Modeler
(TMM-Cartesian) form click Combine Paths, it opens Path Combiner form which is used for combining
paths generated to construct the final trajectory by selected combination of those paths. (since we added
and modeled two paths for this example clicking Combine Paths button on Path Modeler opens Path
Combiner dialog with two available paths.)
48 Chapter 4 Motion Modeling Projects

The Path Combiner is common to both Cartesian and Polar domain projects and main function of Path
Combiner is generating combined paths from available paths defined by the order of combination and
number of paths to be combined. The paths can be aligned automatically by proper selection and a new
sampling time can be defined for the final trajectory which is the ordered combination of available paths.
 49

4.4. MMP Projects in Polar Domain

Motion Modeling Project (MMP) creation in Polar domain starts with selection of New project item from
Project menu, which opens the New Project Creation dialog. (To create a new project select Project >
New).
New Project Creation form is common to Cartesian and Polar domain projects and consists of fields for
Project Name entry, Project Type selection and project Folder selection. After properly naming the project
and selecting Motion Modeling as Project Type, Project Folder can be chosen from existing
directories\folders or a specific folder to hold project items can be created.

Clicking OK opens the Project Data-MMP form, the form in which the coordinate system for intended
project is selected, for Polar domain Motion Modeling Projects the selection is In Polar Coordinates
(Range-Azimuth), In Polar Coordinates (Range-Elevation) or In Polar Coordinates (Azimuth-
Elevation), and by clicking Configure button the next dialog opened is Motion Modeler. (Select third,
fourth or fifth fields depending on project types as In Polar Coordinates (Range-Azimuth), In Polar
Coordinates (Range-Elevation) or In Polar Coordinates (Azimuth-Elevation), and click Configure)
Motion Modeler dialog in olar domain motion modeling projects consist of fields for entry of Target
Name, Sampling Time and Motion Modeling Method, once the values are entered and method is selected,
clicking Edit opens up the Path Modeler (TMM-Polar) for individual path additions and modeling. (As an
example for this case we have named the target as Target1 with an aimed trajectory sampled at 0.3s). For
polar domain projects there are five methods for motion modeling;
By Known Functions and SPToM (KF-SPToM)
By TOP and SPToM (TOP-SPToM)
By SOP and SPToM (SOP-SPToM)
By V Vectors and SPToM (V-SPToM)
By A Vectors and SPToM (A-SPToM)
50 Chapter 4 Motion Modeling Projects

SPToM stands for Start Point plus Time of Motion, TOP stands for Third Order Polynomial, SOP stands
for Second order Polynomial, V and A Vectors stand for Velocity and Acceleration Vectors.

As an example we have selected the motion modeling method as By SOP and SPToM. Clicking Edit
brings the Path Modeler (TMM-Polar) form which is used for creating/adding paths for the trajectory to be
modeled.
Path addition is done by using left panel of the Path Modeler (TMM-Polar) form by using Add Path and
Model the Path menu items shown by right clicking the mouse on respective item. The right pane of the
form basically presents the entered data in Path Editor (TMM-Polar).
 51

To add a path select first the Trajectory Segments item on left pane by left click and then right clicking
opens the context menu consisting of Add Path and Model the Path menu items, click Add Path, it
automatically adds a path, added path name appears on left pane under Trajectory Segments as Path1,
Path2 and so on), any number of targets can be added this way. (For the example case, we created two
paths Path1 and Path2)

Modeling those added paths done by selecting the path by first left clicking to select and then right
clicking on the chosen path and selecting Model the Path menu item, which opens Path Editor (TMM-
Cartesian). The right pane of the form basically shows the parameters of the model entered in Path Editor.

After adding paths, the next step is modeling them. Select path to be modeled by left click, and then right
clicking on selected path opens the context menu consisting of Add Path and Model the Path menu
items, select Model the Path which opens the Path Editor (TMM-Polar) form.
52 Chapter 4 Motion Modeling Projects

Path Editor (TMM-Polar) is the editor which allows parameters to be entered using respective fields and
selections, for selected motion modeling method of By SOP and SPToM, the entries needed are Initial
Position by Range and Azimuth coordinates, Time of Motion , coefficients of SOP and the name of the
generated path which is saved in designated file path.

Once the path (in this example it is shown for Path 1 which is P1) is generated by clicking Generate
button, it can be plotted by clicking the Preview button. (first click Generate to generate the modeled
path, then click Preview to display output plot and then click Save to save the generated path to
designated location)

Repeating similar procedure for Path2, by first adding a path and then modeling the path this time with
different initial position values, and with different SOP coefficients produce a new path. (Select
Trajectory Segments on the left panel of Path Modeler (TMM-Cartesian) by left click, then by right click
select Add Path which adds Path2, select Path2 by left click, and then right click on selected item Path2
opens context menu consisting of Add Path and Model the Path, select Model the Path by left click, it
opens Path Editor(TMM-Cartesian) )

On Path Editor form click Generate to generate the Path2 with model parameters shown, then click
Preview to display the modeled path and then click Save to save generated path into designated location.
 53

The paths added and modeled this way can be combined to form the final trajectory. On Path Modeler
(TMM-Cartesian) form click Combine Paths, it opens Path Combiner form which is used for combining
paths generated to construct the final trajectory by selected combination of those paths. (since we added
and modeled two paths for this example clicking Combine Paths button on Path Modeler opens Path
Combiner dialog with two available paths.)
54 Chapter 4 Motion Modeling Projects

Main function of Path Combiner is generating combined paths from available paths defined by the order
of combination and number of paths to be combined. The paths can be aligned automatically by proper
selection and a new sampling time can be defined for the final trajectory which is the ordered combination
of available paths.

However, the final trajectory consisting of combination of those paths can be infinitely long (combined
trajectory consisting of two paths as P1+P2 and P2+ P1+P2+ P1+P2+ P1, but all combinations are
possible and combination number and consequently final trajectory length can go to very high numbers
allowed by platform and OS capability )