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// Copyright (c) 2015, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#include <gepetto/viewer/node.h> |
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#include <gepetto/viewer/transform-writer.h> |
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namespace gepetto { |
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namespace viewer { |
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namespace { |
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const char indent[] = " "; |
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} |
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void TransformWriter::newFrame() { |
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writeNewFrame(); |
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frameCount_++; |
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} |
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void BasicTransformWriter::writeNewFrame() { |
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file_ << "FRAME=" << frameCount_ << "\n"; |
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} |
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void BasicTransformWriter::writeTransform(const char* objName, |
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const osgVector3& vec, |
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const osgQuat& quat) { |
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file_ << objName << "=" << vec[0] << ", " << vec[1] << ", " << vec[2] << ", " |
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<< quat.w() << ", " << quat.x() << ", " << quat.y() << ", " << quat.z() |
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<< "\n"; |
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} |
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void YamlTransformWriter::writeNewFrame() { |
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file_ << "frame_" << frameCount_ << ":\n"; |
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} |
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void YamlTransformWriter::writeTransform(const char* objName, |
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const osgVector3& vec, |
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const osgQuat& quat) { |
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file_ << indent << objName << ": [" << vec[0] << ", " << vec[1] << ", " |
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<< vec[2] << ", " << quat.w() << ", " << quat.x() << ", " << quat.y() |
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<< ", " << quat.z() << "]\n"; |
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} |
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void TransformWriterVisitor::apply(Node& node) { |
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const Configuration& cfg = node.getGlobalTransform(); |
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writer_->writeTransform(node.getID().c_str(), cfg.position, cfg.quat); |
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traverse(node); |
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} |
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void TransformWriterVisitor::captureFrame(Node& node) { |
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writer_->openFile(); |
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writer_->newFrame(); |
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apply(node); |
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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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