/usr/include/choreonoid-1.1/cnoid/src/Body/BodyMotionUtil.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | /**
@author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODY_BODY_MOTION_UTIL_H_INCLUDED
#define CNOID_BODY_BODY_MOTION_UTIL_H_INCLUDED
#include "Body.h"
#include <cnoid/NullOut>
#include <iosfwd>
#include <string>
#include "exportdecl.h"
namespace cnoid {
class BodyMotion;
class Vector3Seq;
class MultiAffine3Seq;
class MultiValueSeq;
class PoseProvider;
CNOID_EXPORT bool loadHrpsysSeqFileSet(
BodyMotion& motion, const std::string& filename, std::ostream& os);
CNOID_EXPORT bool saveHrpsysSeqFileSet(
BodyMotion& motion, BodyPtr body, const std::string& filename, std::ostream& os);
CNOID_EXPORT void calcLinkAccSeq(
MultiAffine3Seq& linkPosSeq, Sensor* gsens, int frameBegin, int numFrames, Vector3Seq& out_accSeq);
CNOID_EXPORT bool applyVelocityLimitFilter(
MultiValueSeq& seq, BodyPtr body, std::ostream& os = nullout());
CNOID_EXPORT bool applyVelocityLimitFilter2(MultiValueSeq& seq, int part, double absLimit);
CNOID_EXPORT bool applyVelocityLimitFilterDummy();
CNOID_EXPORT bool applyPollardVelocityLimitFilter(
MultiValueSeq& seq, BodyPtr body, double ks, std::ostream& os = nullout());
CNOID_EXPORT void applyGaussianFilter(
MultiValueSeq& seq, double sigma, int range, std::ostream& os = nullout());
CNOID_EXPORT void applyRangeLimitFilter(
MultiValueSeq& seq, BodyPtr body, double limitGrad, double edgeGradRatio, double margin,
std::ostream& os = nullout());
}
#endif
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