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;
}
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);
}
}
}