Choreonoid  1.5
BodyMotionUtil.h
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1 
5 #ifndef CNOID_BODY_BODY_MOTION_UTIL_H
6 #define CNOID_BODY_BODY_MOTION_UTIL_H
7 
8 #include <cnoid/NullOut>
9 #include <iosfwd>
10 #include <string>
11 #include "exportdecl.h"
12 
13 namespace cnoid {
14 
15 class Body;
16 class BodyMotion;
17 class Vector3Seq;
18 class MultiSE3Seq;
19 class MultiValueSeq;
20 class PoseProvider;
21 class AccelerationSensor;
22 
24  BodyMotion& motion, const std::string& filename, std::ostream& os);
25 
27  BodyMotion& motion, Body* body, const std::string& filename, std::ostream& os);
28 
30  MultiSE3Seq& linkPosSeq, AccelerationSensor* gsens, int frameBegin, int numFrames, Vector3Seq& out_accSeq);
31 
33  MultiValueSeq& seq, Body* body, std::ostream& os = nullout());
34 
35 CNOID_EXPORT bool applyVelocityLimitFilter2(MultiValueSeq& seq, int part, double absLimit);
36 
38 
40  MultiValueSeq& seq, Body* body, double ks, std::ostream& os = nullout());
41 
43  MultiValueSeq& seq, double sigma, int range, std::ostream& os = nullout());
44 
46  MultiValueSeq& seq, Body* body, double limitGrad, double edgeGradRatio, double margin,
47  std::ostream& os = nullout());
48 }
49 
50 #endif
CNOID_EXPORT bool applyVelocityLimitFilter2(MultiValueSeq &seq, int part, double absLimit)
Definition: BodyMotionUtil.cpp:382
CNOID_EXPORT bool applyVelocityLimitFilterDummy()
Definition: BodyMotionUtil.cpp:396
void applyGaussianFilter(RESULTVECTOR &result, const SRCVECTOR &src, std::vector< T > &gwin, ELEMENT zero)
Definition: GaussianFilter.h:42
CNOID_EXPORT void applyRangeLimitFilter(MultiValueSeq &seq, Body *body, double limitGrad, double edgeGradRatio, double margin, std::ostream &os=nullout())
Definition: BodyMotionUtil.cpp:480
CNOID_EXPORT bool applyPollardVelocityLimitFilter(MultiValueSeq &seq, Body *body, double ks, std::ostream &os=nullout())
Definition: BodyMotionUtil.cpp:444
CNOID_EXPORT bool saveHrpsysSeqFileSet(BodyMotion &motion, Body *body, const std::string &filename, std::ostream &os)
Definition: BodyMotionUtil.cpp:256
CNOID_EXPORT bool loadHrpsysSeqFileSet(BodyMotion &motion, const std::string &filename, std::ostream &os)
Definition: BodyMotionUtil.cpp:148
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
CNOID_EXPORT bool applyVelocityLimitFilter(MultiValueSeq &seq, Body *body, std::ostream &os=nullout())
Definition: BodyMotionUtil.cpp:451
std::ostream & nullout()
Definition: NullOut.cpp:26
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
CNOID_EXPORT void calcLinkAccSeq(MultiSE3Seq &linkPosSeq, AccelerationSensor *gsens, int frameBegin, int numFrames, Vector3Seq &out_accSeq)
Definition: BodyMotionUtil.cpp:116