transform-writer.h

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