DART  6.7.3
Recording.hpp
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38 
39 #ifndef DART_SIMULATION_RECORDING_HPP_
40 #define DART_SIMULATION_RECORDING_HPP_
41 
42 #include <vector>
43 
44 #include <Eigen/Dense>
45 
47 
48 namespace dart {
49 
50 namespace dynamics {
51 class Skeleton;
52 } // namespace dynamics
53 
54 namespace simulation {
55 
57 class Recording
58 {
59 public:
61  explicit Recording(const std::vector<dynamics::SkeletonPtr>& _skeletons);
62 
64  explicit Recording(const std::vector<int>& _skelDofs);
65 
67  virtual ~Recording();
68 
70  int getNumFrames() const;
71 
73  int getNumSkeletons() const;
74 
77  int getNumDofs(int _skelIdx) const;
78 
80  int getNumContacts(int _frameIdx) const;
81 
84  Eigen::VectorXd getConfig(int _frameIdx, int _skelIdx) const;
85 
88  double getGenCoord(int _frameIdx, int _skelIdx, int _dofIdx) const;
89 
92  Eigen::Vector3d getContactPoint(int _frameIdx, int _contactIdx) const;
93 
96  Eigen::Vector3d getContactForce(int _frameIdx, int _contactIdx) const;
97 
99  void clear();
100 
102  void addState(const Eigen::VectorXd& _state);
103 
105  void updateNumGenCoords(const std::vector<dynamics::SkeletonPtr>& _skeletons);
106 
107 private:
109  std::vector<Eigen::VectorXd> mBakedStates;
110 
112  std::vector<int> mNumGenCoordsForSkeletons;
113 };
114 
115 } // namespace simulation
116 } // namespace dart
117 
118 #endif // DART_SIMULATION_RECORDING_HPP_
class Recording
Definition: Recording.hpp:58
Eigen::Vector3d getContactForce(int _frameIdx, int _contactIdx) const
Get contact force whose index is _contactIdx at frame number _frameIdx.
Definition: Recording.cpp:122
void addState(const Eigen::VectorXd &_state)
Add state.
Definition: Recording.cpp:136
std::vector< int > mNumGenCoordsForSkeletons
Number of generalized coordinates for skeletons.
Definition: Recording.hpp:112
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.
Definition: Recording.cpp:104
int getNumContacts(int _frameIdx) const
Get number of contacts at frame number _frameIdx.
Definition: Recording.cpp:86
Recording(const std::vector< dynamics::SkeletonPtr > &_skeletons)
Create Recording with a list of skeletons.
Definition: Recording.cpp:49
int getNumDofs(int _skelIdx) const
Get number of generalized coordinates of skeleton whoes index is _skelIdx.
Definition: Recording.cpp:80
int getNumSkeletons() const
Get number of skeletons.
Definition: Recording.cpp:74
std::vector< Eigen::VectorXd > mBakedStates
Baked states.
Definition: Recording.hpp:109
int getNumFrames() const
Get number of frames.
Definition: Recording.cpp:68
void clear()
Clear the saved histories.
Definition: Recording.cpp:131
virtual ~Recording()
Destructor.
Definition: Recording.cpp:63
Eigen::VectorXd getConfig(int _frameIdx, int _skelIdx) const
Get skeleton configurations whose index is _skelIdx at frame number _frameIdx.
Definition: Recording.cpp:95
void updateNumGenCoords(const std::vector< dynamics::SkeletonPtr > &_skeletons)
Update list for number of generalized coordinates.
Definition: Recording.cpp:142
Eigen::Vector3d getContactPoint(int _frameIdx, int _contactIdx) const
Get contact point whose index is _contactIdx at frame number _frameIdx.
Definition: Recording.cpp:113
Definition: BulletCollisionDetector.cpp:63