/*
 * Copyright (c) 2011-2022, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 */

#ifndef DART_UTILS_FILEINFODOF_HPP_
#define DART_UTILS_FILEINFODOF_HPP_

#include <vector>

#include <Eigen/Dense>

namespace dart {

namespace dynamics {
class Skeleton;
} // namespace dynamics

namespace utils {

/// \brief class FileInfoDof
class FileInfoDof
{
public:
  /// \brief Constructor
  FileInfoDof(dynamics::Skeleton* _skel, double _fps = 120.0);

  /// \brief Destructor
  virtual ~FileInfoDof();

  /// \brief Load file
  bool loadFile(const char* _fileName);

  /// \brief Save file
  /// \note Down sampling not implemented yet
  bool saveFile(
      const char* _fileName,
      std::size_t _start,
      std::size_t _end,
      double _sampleRate = 1.0);

  /// \brief Add Dof
  void addDof(const Eigen::VectorXd& _dofs);

  /// \brief Get Dof
  double getDofAt(std::size_t _frame, std::size_t _id) const;

  /// \brief Get pose at frame
  Eigen::VectorXd getPoseAtFrame(int _frame) const;

  /// \brief Set frames per second
  void setFPS(double _fps);

  /// \brief Get frames per second
  double getFPS() const;

  /// \brief Get number of frames
  int getNumFrames() const;

  /// \brief Get skeleton associated with
  dynamics::Skeleton* getSkel() const;

protected:
  /// \brief Model associated with
  dynamics::Skeleton* mSkel;

  /// \brief Frame rate
  double mFPS;

  /// \brief Number of frames
  std::size_t mNumFrames;

  /// \brief File name
  char mFileName[256];

  /// \brief Dof data [frame][dofIndex]
  std::vector<Eigen::VectorXd> mDofs;
};

} // namespace utils
} // namespace dart
#endif // DART_UTILS_FILEINFODOF_HPP_
