iLab Neuromorphic Robotics Toolkit  0.1
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Posture.H
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1 /*! @file
2  @author Laurent Itti
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33 
34  This code modified and converted to C++11/STL/boost from the Motion capture player for ASF/AMC motion capture
35  sequences at http://www-bcf.usc.edu/~jbarbic/
36 
37  Revision 1 - Steve Lin (CMU), Jan 14, 2002
38  Revision 2 - Alla Safonova and Kiran Bhat (CMU), Jan 18, 2002
39  Revision 3 - Jernej Barbic and Yili Zhao (USC), Feb, 2012
40 
41  @endverbatim */
42 
43 #ifndef INCLUDE_NRT_GRAPHICS_MOCAP_POSTURE_H
44 #define INCLUDE_NRT_GRAPHICS_MOCAP_POSTURE_H
45 
46 #include <nrt/Eigen/Eigen.H>
47 #include <map>
48 #include <nrt/External/cereal/types/map.hpp>
49 
50 namespace nrt
51 {
52  namespace graphics
53  {
54  namespace mocap
55  {
56  //! Root position and all bone rotation angles (including root) for a Skeleton
57  /*! This class can be used to set the rotations, translations, and elongations of all bones in a Skeleton. See the
58  Motion class for loading a vector of Posture objects from an Acclaim .AMC file.
59  \ingroup mocap */
60  struct Posture
61  {
62  //! Posture data for each bone
63  struct Data
64  {
65  //! Euler angles (thetax, thetay, thetaz) of bone in local coordinate system, or 0 if no DOF
66  Eigen::Vector3d rotation;
67 
68  //! Bone translation relative to parents (resulting in gaps) (rarely used)
69  Eigen::Vector3d translation;
70 
71  //! Bone length if it changes during the motion (rarely used)
72  double length;
73 
74  //! Serialization
75  template <class Archive> void serialize(Archive & ar)
76  { ar( rotation, translation, length ); }
77  };
78 
79  //! Map of posture data indexed by bone name
80  /*! \note special bone named 'root' has no length, just position (translation) and rotation */
81  std::map<std::string, Data> data;
82 
83  //! Serialization
84  template <class Archive> void serialize(Archive & ar)
85  { ar( data ); }
86  };
87  }
88  }
89 }
90 
91 #endif // INCLUDE_NRT_GRAPHICS_MOCAP_POSTURE_H
92