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BVHLoader.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef BVHLOADER_HH
18 #define BVHLOADER_HH
19 
20 #include <vector>
21 #include <map>
22 #include <string>
23 
24 #include "math/Pose.hh"
25 
26 #define X_POSITION 0
27 #define Y_POSITION 1
28 #define Z_POSITION 2
29 #define X_ROTATION 3
30 #define Y_ROTATION 4
31 #define Z_ROTATION 5
32 
33 namespace gazebo
34 {
35  namespace common
36  {
37  class Skeleton;
38 
41 
44  class BVHLoader
45  {
47  public: BVHLoader();
48 
50  public: ~BVHLoader();
51 
56  public: Skeleton* Load(const std::string &_filename, double _scale);
57  };
59  }
60 }
61 
62 #endif