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// |
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// transform-writer.h |
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// gepetto-viewer |
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// Created by Joseph Mirabel in November 2015. |
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// Copyright (c) 2015 LAAS-CNRS. All rights reserved. |
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// |
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#ifndef GEPETTO_VIEWER_TRANSFORM_WRITER_VISITOR_HH |
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#define GEPETTO_VIEWER_TRANSFORM_WRITER_VISITOR_HH |
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#include <gepetto/viewer/config-osg.h> |
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#include <gepetto/viewer/node-visitor.h> |
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#include <fstream> |
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#include <iostream> |
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namespace gepetto { |
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namespace viewer { |
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DEF_CLASS_SMART_PTR(TransformWriter) |
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DEF_CLASS_SMART_PTR(BasicTransformWriter) |
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DEF_CLASS_SMART_PTR(YamlTransformWriter) |
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DEF_CLASS_SMART_PTR(TransformWriterVisitor) |
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class TransformWriter : public osg::Referenced { |
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public: |
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// TODO: set the buffer of the filebuf manually so as to increase buffer |
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// size. |
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TransformWriter(const std::string filename) |
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: filename_(filename), frameCount_(0) {} |
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virtual ~TransformWriter() {} |
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void newFrame(); |
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virtual void writeTransform(const char* objName, const osgVector3& vec, |
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const osgQuat& quat) = 0; |
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std::ofstream& out() { return file_; } |
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void openFile() { |
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file_.open(filename_.c_str(), std::ofstream::out | std::ofstream::app); |
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if (!file_.is_open()) |
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throw std::ios_base::failure("Unable to open file " + filename_); |
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} |
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void closeFile() { file_.close(); } |
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protected: |
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virtual void writeNewFrame() = 0; |
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std::ofstream file_; |
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std::string filename_; |
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unsigned int frameCount_; |
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}; |
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class BasicTransformWriter : public TransformWriter { |
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public: |
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BasicTransformWriter(const std::string filename) |
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: TransformWriter(filename) {} |
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~BasicTransformWriter() {} |
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void writeTransform(const char* objName, const osgVector3& vec, |
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const osgQuat& quat); |
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protected: |
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void writeNewFrame(); |
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}; |
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class YamlTransformWriter : public TransformWriter { |
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public: |
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YamlTransformWriter(const std::string filename) : TransformWriter(filename) {} |
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~YamlTransformWriter() {} |
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void writeTransform(const char* objName, const osgVector3& vec, |
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const osgQuat& quat); |
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protected: |
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void writeNewFrame(); |
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}; |
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class TransformWriterVisitor : public NodeVisitor { |
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public: |
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TransformWriterVisitor(TransformWriter* writer) |
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: NodeVisitor(false), writer_(writer) {} |
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void captureFrame(Node& node); |
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template <typename Iterator> |
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void captureFrame(Iterator begin, Iterator end); |
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virtual void apply(Node& node); |
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osg::ref_ptr<TransformWriter> writer_; |
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}; /* class TransformWriterVisitor */ |
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template <typename Iterator> |
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void TransformWriterVisitor::captureFrame(Iterator begin, Iterator end) { |
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writer_->openFile(); |
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writer_->newFrame(); |
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for (Iterator it = begin; it != end; ++it) apply(**it); |
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writer_->closeFile(); |
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} |
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} /* namespace viewer */ |
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} /* namespace gepetto */ |
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#endif /* GEPETTO_VIEWER_TRANSFORM_WRITER_VISITOR_HH */ |