class Recording More...

#include <Recording.hpp>

Public Member Functions
	Recording (const std::vector< dynamics::SkeletonPtr > &_skeletons)
	Create Recording with a list of skeletons.

	Recording (const std::vector< int > &_skelDofs)
	Create Recording with a list of number of dofs.

virtual	~Recording ()
	Destructor.

int	getNumFrames () const
	Get number of frames.

int	getNumSkeletons () const
	Get number of skeletons.

int	getNumDofs (int _skelIdx) const
	Get number of generalized coordinates of skeleton whoes index is _skelIdx.

int	getNumContacts (int _frameIdx) const
	Get number of contacts at frame number _frameIdx.

Eigen::VectorXd	getConfig (int _frameIdx, int _skelIdx) const
	Get skeleton configurations whose index is _skelIdx at frame number _frameIdx.

double	getGenCoord (int _frameIdx, int _skelIdx, int _dofIdx) const
	Get _dofIdx-th single configruation of a skeleton whose index is _skelIdx at frame number _frameIdx.

Eigen::Vector3d	getContactPoint (int _frameIdx, int _contactIdx) const
	Get contact point whose index is _contactIdx at frame number _frameIdx.

Eigen::Vector3d	getContactForce (int _frameIdx, int _contactIdx) const
	Get contact force whose index is _contactIdx at frame number _frameIdx.

void	clear ()
	Clear the saved histories.

void	addState (const Eigen::VectorXd &_state)
	Add state.

void	updateNumGenCoords (const std::vector< dynamics::SkeletonPtr > &_skeletons)
	Update list for number of generalized coordinates.

Private Attributes
std::vector< Eigen::VectorXd >	mBakedStates
	Baked states.

std::vector< int >	mNumGenCoordsForSkeletons
	Number of generalized coordinates for skeletons.

Detailed Description

class Recording

Constructor & Destructor Documentation

◆ Recording() [1/2]

dart::simulation::Recording::Recording ( const std::vector< dynamics::SkeletonPtr > & _skeletons )

explicit

Create Recording with a list of skeletons.

◆ Recording() [2/2]

dart::simulation::Recording::Recording ( const std::vector< int > & _skelDofs )

explicit

Create Recording with a list of number of dofs.

◆ ~Recording()

dart::simulation::Recording::~Recording ( )

virtual

Destructor.

Member Function Documentation

◆ addState()

void dart::simulation::Recording::addState ( const Eigen::VectorXd & _state )

Add state.

◆ clear()

void dart::simulation::Recording::clear ( )

Clear the saved histories.

◆ getConfig()

Eigen::VectorXd dart::simulation::Recording::getConfig	(	int	_frameIdx,
		int	_skelIdx
	)		const

Get skeleton configurations whose index is _skelIdx at frame number _frameIdx.

◆ getContactForce()

Eigen::Vector3d dart::simulation::Recording::getContactForce	(	int	_frameIdx,
		int	_contactIdx
	)		const

Get contact force whose index is _contactIdx at frame number _frameIdx.

◆ getContactPoint()

Eigen::Vector3d dart::simulation::Recording::getContactPoint	(	int	_frameIdx,
		int	_contactIdx
	)		const

Get contact point whose index is _contactIdx at frame number _frameIdx.

◆ getGenCoord()

double dart::simulation::Recording::getGenCoord	(	int	_frameIdx,
		int	_skelIdx,
		int	_dofIdx
	)		const

Get _dofIdx-th single configruation of a skeleton whose index is _skelIdx at frame number _frameIdx.

◆ getNumContacts()

int dart::simulation::Recording::getNumContacts ( int _frameIdx ) const

Get number of contacts at frame number _frameIdx.

◆ getNumDofs()

int dart::simulation::Recording::getNumDofs ( int _skelIdx ) const

Get number of generalized coordinates of skeleton whoes index is _skelIdx.

◆ getNumFrames()

int dart::simulation::Recording::getNumFrames ( ) const

Get number of frames.

◆ getNumSkeletons()

int dart::simulation::Recording::getNumSkeletons ( ) const

Get number of skeletons.

◆ updateNumGenCoords()

void dart::simulation::Recording::updateNumGenCoords ( const std::vector< dynamics::SkeletonPtr > & _skeletons )

Update list for number of generalized coordinates.

Member Data Documentation

◆ mBakedStates

std::vector<Eigen::VectorXd> dart::simulation::Recording::mBakedStates

private

Baked states.

◆ mNumGenCoordsForSkeletons

std::vector<int> dart::simulation::Recording::mNumGenCoordsForSkeletons