C++ (Cpp) PoseSeqItem Examples

Example #1

File: BodyMotionGenerationBar.cpp Project: SeishoIrie/choreonoid-deb

void BodyMotionGenerationBar::onGenerationButtonClicked()
{
    set<BodyMotionItem*> motionItems; // for avoiding overlap
    ItemList<Item> selectedItems = ItemTreeView::mainInstance()->selectedItems<Item>();

    for(size_t i=0; i < selectedItems.size(); ++i){
        PoseSeqItem* poseSeqItem = dynamic_cast<PoseSeqItem*>(selectedItems[i]);
        if(poseSeqItem){
            motionItems.insert(poseSeqItem->bodyMotionItem());
        } else {
            BodyMotionItem* motionItem = dynamic_cast<BodyMotionItem*>(selectedItems[i]);
            if(motionItem){
                motionItems.insert(motionItem);
            }
        }
    }

    for(set<BodyMotionItem*>::iterator p = motionItems.begin(); p != motionItems.end(); ++p){
        BodyMotionItem* motionItem = *p;
        BodyItem* bodyItem = motionItem->findOwnerItem<BodyItem>(true);
        if(bodyItem){
            PoseProvider* provider = 0;
            PoseSeqItem* poseSeqItem = dynamic_cast<PoseSeqItem*>(motionItem->parentItem());
            if(poseSeqItem){
                provider = poseSeqItem->interpolator().get();
            } else {
                bodyMotionPoseProvider->initialize(bodyItem->body(), motionItem->motion());
                provider = bodyMotionPoseProvider;

                if(setup->newBodyItemCheck.isChecked()){
                    BodyMotionItem* newMotionItem = new BodyMotionItem();
                    newMotionItem->setName(motionItem->name() + "'");
                    motionItem->parentItem()->insertChildItem(newMotionItem, motionItem->nextItem());
                    motionItem = newMotionItem;
                }
            }
            shapeBodyMotion(bodyItem->body(), provider, motionItem, true);
        }
    }
}

Example #2

File: HrpsysSequenceFileExportPlugin.cpp Project: kindsenior/jsk_choreonoid

void HrpsysSequenceFileExportPlugin::HrpsysSequenceFileExport()
{
  cout << "\x1b[31m" << "Start HrpsysSequenceFileExport" << "\x1b[m" << endl;

  // BodyItem,BodyPtr
  ItemList<BodyItem> bodyItems = ItemTreeView::mainInstance()->checkedItems<BodyItem>();
  BodyPtr body = bodyItems[0]->body();// ロボットモデルは１個のみチェック

  LeggedBodyHelperPtr lgh = getLeggedBodyHelper(body);

  PoseSeqItem* poseSeqItem = ItemTreeView::mainInstance()->selectedItems<PoseSeqItem>()[0];
  PoseSeqPtr poseSeq = poseSeqItem->poseSeq();

  BodyMotionItem* bodyMotionItem = poseSeqItem->bodyMotionItem();
  BodyMotionPtr motion = bodyMotionItem->motion();

  string poseSeqPathString = poseSeqItem->filePath();
  boost::filesystem::path poseSeqPath(poseSeqPathString);
  cout << " parent_path:" << poseSeqPath.parent_path().string() << " basename:" << getBasename(poseSeqPath) << endl;

  double dt = ((double) 1)/motion->frameRate();
  int numFrames = motion->numFrames();

  std::vector<string> extentionVec{"wrenches","optionaldata"};
  for(auto ext : extentionVec){
      MultiValueSeqItemPtr seqItem = bodyMotionItem->findSubItem<MultiValueSeqItem>(ext);
      if(!seqItem){
          cout << ext << " is not found in PoseSeq: " << poseSeqItem->name() << endl;
          continue;
      }

      stringstream fnamess;
      fnamess << poseSeqItem->name() << "." << ext;
      ofstream ofs;
      ofs.open(((filesystem::path) poseSeqPath.parent_path() / fnamess.str()).string().c_str(), ios::out);

      MultiValueSeqPtr multiValueSeqPtr = seqItem->seq();
      for(int i=0; i<numFrames; ++i){
          ofs << i*dt;
          MultiValueSeq::Frame frame = multiValueSeqPtr->frame(i);
          for(int j=0; j<frame.size(); ++j){
              ofs << " " << frame[j];
          }
          ofs << endl;
      }
      ofs.close();
  }

  cout << "\x1b[31m" << "Finished HrpsysSequenceFileExport" << "\x1b[m" << endl << endl;
}