Recording.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * 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
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 *   * Redistributions of source code must retain the above copyright
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 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
 *   * This code incorporates portions of Open Dynamics Engine
 *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
 *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
 *     Garage, Inc. All rights reserved.), which were released under
 *     the same BSD license as below
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#ifndef DART_SIMULATION_RECORDING_HPP_
#define DART_SIMULATION_RECORDING_HPP_

#include <vector>

#include <Eigen/Dense>

#include "dart/dynamics/Skeleton.hpp"

namespace dart {

namespace dynamics {
class Skeleton;
} // namespace dynamics

namespace simulation {

class Recording
{
public:
  explicit Recording(const std::vector<dynamics::SkeletonPtr>& _skeletons);

  explicit Recording(const std::vector<int>& _skelDofs);

  virtual ~Recording();

  int getNumFrames() const;

  int getNumSkeletons() const;

  int getNumDofs(int _skelIdx) const;

  int getNumContacts(int _frameIdx) const;

  Eigen::VectorXd getConfig(int _frameIdx, int _skelIdx) const;

  double getGenCoord(int _frameIdx, int _skelIdx, int _dofIdx) const;

  Eigen::Vector3d getContactPoint(int _frameIdx, int _contactIdx) const;

  Eigen::Vector3d getContactForce(int _frameIdx, int _contactIdx) const;

  void clear();

  void addState(const Eigen::VectorXd& _state);

  void updateNumGenCoords(const std::vector<dynamics::SkeletonPtr>& _skeletons);

private:
  std::vector<Eigen::VectorXd> mBakedStates;

  std::vector<int> mNumGenCoordsForSkeletons;
};

} // namespace simulation
} // namespace dart

#endif // DART_SIMULATION_RECORDING_HPP_