DART  6.7.3
FileInfoDof.hpp
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32 
33 #ifndef DART_UTILS_FILEINFODOF_HPP_
34 #define DART_UTILS_FILEINFODOF_HPP_
35 
36 #include <vector>
37 
38 #include <Eigen/Dense>
39 
40 namespace dart {
41 
42 namespace dynamics {
43 class Skeleton;
44 } // namespace dynamics
45 
46 namespace utils {
47 
50 {
51 public:
53  FileInfoDof(dynamics::Skeleton* _skel, double _fps = 120.0);
54 
56  virtual ~FileInfoDof();
57 
59  bool loadFile(const char* _fileName);
60 
63  bool saveFile(const char* _fileName, std::size_t _start, std::size_t _end,
64  double _sampleRate = 1.0);
65 
67  void addDof(const Eigen::VectorXd& _dofs);
68 
70  double getDofAt(std::size_t _frame, std::size_t _id) const;
71 
73  Eigen::VectorXd getPoseAtFrame(int _frame) const;
74 
76  void setFPS(double _fps);
77 
79  double getFPS() const;
80 
82  int getNumFrames() const;
83 
85  dynamics::Skeleton* getSkel() const;
86 
87 protected:
90 
92  double mFPS;
93 
95  std::size_t mNumFrames;
96 
98  char mFileName[256];
99 
101  std::vector<Eigen::VectorXd> mDofs;
102 };
103 
104 } // namespace utils
105 } // namespace dart
106 #endif // DART_UTILS_FILEINFODOF_HPP_
class Skeleton
Definition: Skeleton.hpp:59
class FileInfoDof
Definition: FileInfoDof.hpp:50
bool saveFile(const char *_fileName, std::size_t _start, std::size_t _end, double _sampleRate=1.0)
Save file.
Definition: FileInfoDof.cpp:114
FileInfoDof(dynamics::Skeleton *_skel, double _fps=120.0)
Constructor.
Definition: FileInfoDof.cpp:47
int getNumFrames() const
Get number of frames.
Definition: FileInfoDof.cpp:188
dynamics::Skeleton * mSkel
Model associated with.
Definition: FileInfoDof.hpp:89
std::size_t mNumFrames
Number of frames.
Definition: FileInfoDof.hpp:95
void addDof(const Eigen::VectorXd &_dofs)
Add Dof.
Definition: FileInfoDof.cpp:158
double getDofAt(std::size_t _frame, std::size_t _id) const
Get Dof.
Definition: FileInfoDof.cpp:164
std::vector< Eigen::VectorXd > mDofs
Dof data [frame][dofIndex].
Definition: FileInfoDof.hpp:101
void setFPS(double _fps)
Set frames per second.
Definition: FileInfoDof.cpp:176
double mFPS
Frame rate.
Definition: FileInfoDof.hpp:92
Eigen::VectorXd getPoseAtFrame(int _frame) const
Get pose at frame.
Definition: FileInfoDof.cpp:170
double getFPS() const
Get frames per second.
Definition: FileInfoDof.cpp:182
bool loadFile(const char *_fileName)
Load file.
Definition: FileInfoDof.cpp:61
dynamics::Skeleton * getSkel() const
Get skeleton associated with.
Definition: FileInfoDof.cpp:194
virtual ~FileInfoDof()
Destructor.
Definition: FileInfoDof.cpp:54
char mFileName[256]
File name.
Definition: FileInfoDof.hpp:98
Definition: BulletCollisionDetector.cpp:63