FileInfoDof.hpp

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#ifndef DART_UTILS_FILEINFODOF_HPP_
#define DART_UTILS_FILEINFODOF_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
namespace dart {
 
namespace dynamics {
class Skeleton;
} // namespace dynamics
 
namespace utils {
 
class FileInfoDof
{
public:
  FileInfoDof(dynamics::Skeleton* _skel, double _fps = 120.0);
 
  virtual ~FileInfoDof();
 
  bool loadFile(const char* _fileName);
 
  bool saveFile(
      const char* _fileName,
      std::size_t _start,
      std::size_t _end,
      double _sampleRate = 1.0);
 
  void addDof(const Eigen::VectorXd& _dofs);
 
  double getDofAt(std::size_t _frame, std::size_t _id) const;
 
  Eigen::VectorXd getPoseAtFrame(int _frame) const;
 
  void setFPS(double _fps);
 
  double getFPS() const;
 
  int getNumFrames() const;
 
  dynamics::Skeleton* getSkel() const;
 
protected:
  dynamics::Skeleton* mSkel;
 
  double mFPS;
 
  std::size_t mNumFrames;
 
  char mFileName[256];
 
  std::vector<Eigen::VectorXd> mDofs;
};
 
} // namespace utils
} // namespace dart
#endif // DART_UTILS_FILEINFODOF_HPP_