Adding some non-zero weight to tracking markers in initial IK, changi…

…ng the trajectory rendering APIs to handle TRCs
keenon · Jun 3, 2022 · ca72298 · ca72298
1 parent dba6a9d
commit ca72298
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Showing 22 changed files with 936 additions and 522 deletions.
diff --git a/VERSION.txt b/VERSION.txt
@@ -1 +1 @@
-0.8.1
+0.8.2
diff --git a/dart/biomechanics/C3DLoader.hpp b/dart/biomechanics/C3DLoader.hpp
@@ -8,22 +8,14 @@
 
 #include <Eigen/Dense>
 
+#include "dart/biomechanics/ForcePlate.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/server/GUIWebsocketServer.hpp"
 
 namespace dart {
 
 namespace biomechanics {
 
-struct ForcePlate
-{
-  Eigen::Vector3s worldOrigin;
-  std::vector<Eigen::Vector3s> corners;
-  std::vector<Eigen::Vector3s> centersOfPressure;
-  std::vector<Eigen::Vector3s> moments;
-  std::vector<Eigen::Vector3s> forces;
-};
-
 /// This holds marker trajectory information from an OpenSim TRC file
 struct C3D
 {

diff --git a/dart/biomechanics/ForcePlate.hpp b/dart/biomechanics/ForcePlate.hpp
@@ -0,0 +1,26 @@
+#ifndef DART_BIOMECH_FORCE_PLATE_HPP_
+#define DART_BIOMECH_FORCE_PLATE_HPP_
+
+#include <vector>
+
+#include <Eigen/Dense>
+
+#include "dart/math/MathTypes.hpp"
+
+namespace dart {
+
+namespace biomechanics {
+
+struct ForcePlate
+{
+  Eigen::Vector3s worldOrigin;
+  std::vector<Eigen::Vector3s> corners;
+  std::vector<Eigen::Vector3s> centersOfPressure;
+  std::vector<Eigen::Vector3s> moments;
+  std::vector<Eigen::Vector3s> forces;
+};
+
+} // namespace biomechanics
+} // namespace dart
+
+#endif