/usr/include/kido/utils/FileInfoDof.hpp is in libkido-utils-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2011-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sehoon Ha <sehoon.ha@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_UTILS_FILEINFODOF_HPP_
#define KIDO_UTILS_FILEINFODOF_HPP_
#include <vector>
#include <Eigen/Dense>
namespace kido {
namespace dynamics {
class Skeleton;
} // namespace dynamics
namespace utils {
/// \brief class FileInfoDof
class FileInfoDof
{
public:
/// \brief Constructor
FileInfoDof(dynamics::Skeleton* _skel, double _fps = 120.0);
/// \brief Destructor
virtual ~FileInfoDof();
/// \brief Load file
bool loadFile(const char* _fileName);
/// \brief Save file
/// \note Down sampling not implemented yet
bool saveFile(const char* _fileName, size_t _start, size_t _end,
double _sampleRate = 1.0);
/// \brief Add Dof
void addDof(const Eigen::VectorXd& _dofs);
/// \brief Get Dof
double getDofAt(size_t _frame, size_t _id) const;
/// \brief Get pose at frame
Eigen::VectorXd getPoseAtFrame(int _frame) const;
/// \brief Set frames per second
void setFPS(double _fps);
/// \brief Get frames per second
double getFPS() const;
/// \brief Get number of frames
int getNumFrames() const;
/// \brief Get skeleton associated with
dynamics::Skeleton* getSkel() const;
protected:
/// \brief Model associated with
dynamics::Skeleton* mSkel;
/// \brief Frame rate
double mFPS;
/// \brief Number of frames
size_t mNumFrames;
/// \brief File name
char mFileName[256];
/// \brief Dof data [frame][dofIndex]
std::vector<Eigen::VectorXd> mDofs;
};
} // namespace utils
} // namespace kido
#endif // KIDO_UTILS_FILEINFODOF_HPP_
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