Recording.hpp

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/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
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 *   without modification, are permitted provided that the following
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 *   * This code incorporates portions of Open Dynamics Engine
 *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
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#ifndef DART_SIMULATION_RECORDING_HPP_
#define DART_SIMULATION_RECORDING_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/Skeleton.hpp"
 
namespace dart {
 
namespace dynamics {
class Skeleton;
} // namespace dynamics
 
namespace simulation {
 
class Recording
{
public:
  explicit Recording(const std::vector<dynamics::SkeletonPtr>& _skeletons);
 
  explicit Recording(const std::vector<int>& _skelDofs);
 
  virtual ~Recording();
 
  int getNumFrames() const;
 
  int getNumSkeletons() const;
 
  int getNumDofs(int _skelIdx) const;
 
  int getNumContacts(int _frameIdx) const;
 
  Eigen::VectorXd getConfig(int _frameIdx, int _skelIdx) const;
 
  double getGenCoord(int _frameIdx, int _skelIdx, int _dofIdx) const;
 
  Eigen::Vector3d getContactPoint(int _frameIdx, int _contactIdx) const;
 
  Eigen::Vector3d getContactForce(int _frameIdx, int _contactIdx) const;
 
  void clear();
 
  void addState(const Eigen::VectorXd& _state);
 
  void updateNumGenCoords(const std::vector<dynamics::SkeletonPtr>& _skeletons);
 
private:
  std::vector<Eigen::VectorXd> mBakedStates;
 
  std::vector<int> mNumGenCoordsForSkeletons;
};
 
} // namespace simulation
} // namespace dart
 
#endif // DART_SIMULATION_RECORDING_HPP_