DART
6.10.1
|
#include <Recording.hpp>
Public Member Functions | |
Recording (const std::vector< dynamics::SkeletonPtr > &_skeletons) | |
Create Recording with a list of skeletons. More... | |
Recording (const std::vector< int > &_skelDofs) | |
Create Recording with a list of number of dofs. More... | |
virtual | ~Recording () |
Destructor. More... | |
int | getNumFrames () const |
Get number of frames. More... | |
int | getNumSkeletons () const |
Get number of skeletons. More... | |
int | getNumDofs (int _skelIdx) const |
Get number of generalized coordinates of skeleton whoes index is _skelIdx. More... | |
int | getNumContacts (int _frameIdx) const |
Get number of contacts at frame number _frameIdx. More... | |
Eigen::VectorXd | getConfig (int _frameIdx, int _skelIdx) const |
Get skeleton configurations whose index is _skelIdx at frame number _frameIdx. More... | |
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. More... | |
Eigen::Vector3d | getContactPoint (int _frameIdx, int _contactIdx) const |
Get contact point whose index is _contactIdx at frame number _frameIdx. More... | |
Eigen::Vector3d | getContactForce (int _frameIdx, int _contactIdx) const |
Get contact force whose index is _contactIdx at frame number _frameIdx. More... | |
void | clear () |
Clear the saved histories. More... | |
void | addState (const Eigen::VectorXd &_state) |
Add state. More... | |
void | updateNumGenCoords (const std::vector< dynamics::SkeletonPtr > &_skeletons) |
Update list for number of generalized coordinates. More... | |
Private Attributes | |
std::vector< Eigen::VectorXd > | mBakedStates |
Baked states. More... | |
std::vector< int > | mNumGenCoordsForSkeletons |
Number of generalized coordinates for skeletons. More... | |
class Recording
|
explicit |
Create Recording with a list of skeletons.
|
explicit |
Create Recording with a list of number of dofs.
|
virtual |
Destructor.
void dart::simulation::Recording::addState | ( | const Eigen::VectorXd & | _state | ) |
Add state.
void dart::simulation::Recording::clear | ( | ) |
Clear the saved histories.
Eigen::VectorXd dart::simulation::Recording::getConfig | ( | int | _frameIdx, |
int | _skelIdx | ||
) | const |
Get skeleton configurations whose index is _skelIdx at frame number _frameIdx.
Eigen::Vector3d dart::simulation::Recording::getContactForce | ( | int | _frameIdx, |
int | _contactIdx | ||
) | const |
Get contact force whose index is _contactIdx at frame number _frameIdx.
Eigen::Vector3d dart::simulation::Recording::getContactPoint | ( | int | _frameIdx, |
int | _contactIdx | ||
) | const |
Get contact point whose index is _contactIdx at frame number _frameIdx.
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.
int dart::simulation::Recording::getNumContacts | ( | int | _frameIdx | ) | const |
Get number of contacts at frame number _frameIdx.
int dart::simulation::Recording::getNumDofs | ( | int | _skelIdx | ) | const |
Get number of generalized coordinates of skeleton whoes index is _skelIdx.
int dart::simulation::Recording::getNumFrames | ( | ) | const |
Get number of frames.
int dart::simulation::Recording::getNumSkeletons | ( | ) | const |
Get number of skeletons.
void dart::simulation::Recording::updateNumGenCoords | ( | const std::vector< dynamics::SkeletonPtr > & | _skeletons | ) |
Update list for number of generalized coordinates.
|
private |
Baked states.
|
private |
Number of generalized coordinates for skeletons.