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BVHLoader.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
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 "gazebo/math/Pose.hh"
25 #include "gazebo/util/system.hh"
26 
27 #define X_POSITION 0
28 #define Y_POSITION 1
29 #define Z_POSITION 2
30 #define X_ROTATION 3
31 #define Y_ROTATION 4
32 #define Z_ROTATION 5
33 
34 namespace gazebo
35 {
36  namespace common
37  {
38  class Skeleton;
39 
42 
46  {
48  public: BVHLoader();
49 
51  public: ~BVHLoader();
52 
57  public: Skeleton* Load(const std::string &_filename, double _scale);
58  };
60  }
61 }
62 
63 #endif