dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/simulation/detail/World-impl.hpp

@@ -0,0 +1,129 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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.
+ *   * This code incorporates portions of Open Dynamics Engine
+ *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
+ *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
+ *     Garage, Inc. All rights reserved.), which were released under
+ *     the same BSD license as below
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_SIMULATION_DETAIL_WORLD_IMPL_HPP_
+#define DART_SIMULATION_DETAIL_WORLD_IMPL_HPP_
+
+#include <dart/simulation/World.hpp>
+
+namespace dart {
+namespace simulation {
+
+//==============================================================================
+template <typename... Args>
+WorldPtr World::create(Args&&... args)
+{
+  return std::make_shared<World>(std::forward<Args>(args)...);
+}
+
+//==============================================================================
+template <typename Func>
+void World::eachSkeleton(Func func) const
+{
+  if constexpr (std::is_same_v<
+                    std::invoke_result_t<Func, const dynamics::Skeleton*>,
+                    bool>) {
+    for (auto skel : mSkeletons) {
+      if (!func(skel.get()))
+        return;
+    }
+  } else {
+    for (auto skel : mSkeletons) {
+      func(skel.get());
+    }
+  }
+}
+
+//==============================================================================
+template <typename Func>
+void World::eachSkeleton(Func func)
+{
+  if constexpr (std::is_same_v<
+                    std::invoke_result_t<Func, dynamics::Skeleton*>,
+                    bool>) {
+    for (auto skel : mSkeletons) {
+      if (!func(skel.get()))
+        return;
+    }
+  } else {
+    for (auto skel : mSkeletons) {
+      func(skel.get());
+    }
+  }
+}
+
+//==============================================================================
+template <typename Func>
+void World::eachSimpleFrame(Func func) const
+{
+  if constexpr (std::is_same_v<
+                    std::invoke_result_t<Func, const dynamics::SimpleFrame*>,
+                    bool>) {
+    for (auto simpleFrame : mSimpleFrames) {
+      if (!func(simpleFrame.get()))
+        return;
+    }
+  } else {
+    for (auto simpleFrame : mSimpleFrames) {
+      func(simpleFrame.get());
+    }
+  }
+}
+
+//==============================================================================
+template <typename Func>
+void World::eachSimpleFrame(Func func)
+{
+  if constexpr (std::is_same_v<
+                    std::invoke_result_t<Func, dynamics::SimpleFrame*>,
+                    bool>) {
+    for (auto simpleFrame : mSimpleFrames) {
+      if (!func(simpleFrame.get()))
+        return;
+    }
+  } else {
+    for (auto simpleFrame : mSimpleFrames) {
+      func(simpleFrame.get());
+    }
+  }
+}
+
+} // namespace simulation
+} // namespace dart
+
+#endif // DART_SIMULATION_DETAIL_WORLD_IMPL_HPP_

include/dart/simulation/simulation.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/simulation/all.hpp> instead of <dart/simulation/simulation.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/simulation/simulation.hpp is deprecated. Use dart/simulation/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/simulation/simulation.hpp is deprecated. Use dart/simulation/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/simulation/all.hpp"

include/dart/utils/C3D.hpp

@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_C3D_HPP_
+#define DART_UTILS_C3D_HPP_
+
+#include <dart/math/MathTypes.hpp>
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+#include <ctime>
+
+////////////////////////////////////////////////////////////////////////////////
+//  C3D file reader and writer
+namespace dart {
+namespace utils {
+
+#define C3D_REC_SIZE 512
+
+typedef struct c3d_head_t
+{
+  unsigned char prec_start;
+  unsigned char key;
+  short pnt_cnt;
+  short a_channels;
+  short start_frame;
+  short end_frame;
+  short int_gap;
+  float scale;
+  short rec_start;
+  short a_frames;
+  float freq;
+  short stuff[244];
+} c3d_head;
+
+typedef struct c3d_param_t
+{
+  unsigned char reserved[2];
+  unsigned char pblocks;
+  unsigned char ftype;
+  char stuff[C3D_REC_SIZE - 4];
+} c3d_param;
+
+typedef struct c3d_frameSI_t
+{
+  short x, y, z;
+  unsigned char cam_byte;
+  unsigned char residual;
+} c3d_frameSI;
+
+typedef struct c3d_frame_t
+{
+  float x, y, z;
+  float residual;
+} c3d_frame;
+
+float convertDecToFloat(char _bytes[4]);
+void convertFloatToDec(float _f, char* _bytes);
+
+bool loadC3DFile(
+    const char* _fileName,
+    std::vector<std::vector<Eigen::Vector3d>>& _pointData,
+    int* _nFrame,
+    int* _nMarker,
+    double* _freq);
+bool saveC3DFile(
+    const char* _fileName,
+    std::vector<std::vector<Eigen::Vector3d>>& _pointData,
+    int _nFrame,
+    int _nMarker,
+    double _freq);
+
+} // namespace utils
+} // namespace dart
+
+#endif // #ifndef DART_UTILS_C3D_HPP_

include/dart/utils/CompositeResourceRetriever.hpp

@@ -0,0 +1,97 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
+#define DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
+
+#include <dart/common/ClassWithVirtualBase.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+
+#include <unordered_map>
+#include <vector>
+
+namespace dart {
+namespace utils {
+
+/// CompositeResourceRetriever allows multiple \ref ResourceRetriever to be
+/// used interchangably by: (1) associating each \ref ResourceRetriever with a
+/// particular URI schema and/or (2) providing a precedence order for trying
+/// multiple retrievers.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class CompositeResourceRetriever : public virtual common::ResourceRetriever
+{
+public:
+  virtual ~CompositeResourceRetriever() = default;
+
+  /// \brief Add a default \ref ResourceRetriever for all URIs.
+  /// This \ref ResourceRetriever will be called after all schema-specific
+  /// ResourceRetrievers, if any, have failed. This method may be called
+  /// multiple times. In that case, the ResourceRetrievers will be queried
+  /// in the same order in which they were added.
+  void addDefaultRetriever(
+      const common::ResourceRetrieverPtr& _resourceRetriever);
+
+  /// \brief Add a default \ref ResourceRetriever for \a _schema
+  /// This \ref ResourceRetriever will be called after URIs that match the
+  /// specified schema. This method may be called multiple times. In that
+  /// case, the ResourceRetrievers will be queried in the same order in which
+  /// they were added.
+  bool addSchemaRetriever(
+      const std::string& _schema,
+      const common::ResourceRetrieverPtr& _resourceRetriever);
+
+  // Documentation inherited.
+  bool exists(const common::Uri& _uri) override;
+
+  // Documentation inherited.
+  common::ResourcePtr retrieve(const common::Uri& _uri) override;
+
+  // Documentation inherited.
+  std::string getFilePath(const common::Uri& uri) override;
+
+private:
+  std::vector<common::ResourceRetrieverPtr> getRetrievers(
+      const common::Uri& _uri) const;
+
+  std::unordered_map<std::string, std::vector<common::ResourceRetrieverPtr>>
+      mResourceRetrievers;
+  std::vector<common::ResourceRetrieverPtr> mDefaultResourceRetrievers;
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+using CompositeResourceRetrieverPtr
+    = std::shared_ptr<CompositeResourceRetriever>;
+
+} // namespace utils
+} // namespace dart
+
+#endif // ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_

include/dart/utils/DartResourceRetriever.hpp

@@ -0,0 +1,104 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_DARTRESOURCERETRIEVER_HPP_
+#define DART_UTILS_DARTRESOURCERETRIEVER_HPP_
+
+#include <dart/common/ResourceRetriever.hpp>
+
+#include <unordered_map>
+#include <vector>
+
+namespace dart {
+namespace utils {
+
+/// Retrieve local resources from sample data files given file URI. The scheme
+/// and authority should be "file" and "sample", respectively.
+///
+/// Example of a sample data URI:
+/// \code
+/// "dart://sample/skel/shapes.skel"
+///                \______________/
+///                       |
+///            file path with respect to
+///            the sample data directory
+/// \endcode
+///
+/// DartResourceRetriever searches files in the following order:
+/// 1) Preprocessor, DART_DATA_LOCAL_PATH: Path to the data directory in the
+///    source directory (e.g., [DART_SRC_ROOT]/data/).
+/// 2) Preprocessor, DART_DATA_GLOBAL_PATH: Path to the data directory installed
+///    in a system directory. The location can be varied depending on OS
+///    (e.g., Linux: /usr/local/share/doc/dart/data/).
+/// 3) environment variable, DART_DATA_PATH: Path to the data directory
+///    specified by the user.
+class DartResourceRetriever : public common::ResourceRetriever
+{
+public:
+  template <typename... Args>
+  static std::shared_ptr<DartResourceRetriever> create(Args&&... args)
+  {
+    return std::make_shared<DartResourceRetriever>(std::forward<Args>(args)...);
+  }
+
+  /// Constructor.
+  DartResourceRetriever();
+
+  /// Destructor.
+  ~DartResourceRetriever() override = default;
+
+  // Documentation inherited.
+  bool exists(const common::Uri& uri) override;
+
+  // Documentation inherited.
+  common::ResourcePtr retrieve(const common::Uri& uri) override;
+
+  // Documentation inherited.
+  std::string getFilePath(const common::Uri& uri) override;
+
+private:
+  void addDataDirectory(const std::string& packageDirectory);
+
+  bool resolveDataUri(const common::Uri& uri, std::string& relativePath) const;
+
+private:
+  common::ResourceRetrieverPtr mLocalRetriever;
+
+  std::vector<std::string> mDataDirectories;
+};
+
+using DartResourceRetrieverPtr = std::shared_ptr<DartResourceRetriever>;
+
+} // namespace utils
+} // namespace dart
+
+#endif // ifndef DART_UTILS_DARTRESOURCERETRIEVER_HPP_

include/dart/utils/FileInfoC3D.hpp

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_FILEINFOC3D_HPP_
+#define DART_UTILS_FILEINFOC3D_HPP_
+
+#include <dart/math/MathTypes.hpp>
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+namespace dart {
+namespace utils {
+
+class FileInfoC3D
+{
+public:
+  FileInfoC3D();
+  virtual ~FileInfoC3D() {}
+
+  inline int getNumMarkers() const
+  {
+    return mNumMarkers;
+  }
+  inline int getNumFrames() const
+  {
+    return mNumFrames;
+  }
+  inline double getFPS() const
+  {
+    return mFPS;
+  }
+
+  inline Eigen::Vector3d getDataAt(int _frame, int _idx) const
+  {
+    return mData.at(_frame).at(_idx);
+  } ///< Note: not checking index range
+  inline void addData(const std::vector<Eigen::Vector3d>& _data)
+  {
+    mData.push_back(_data);
+  }
+
+  virtual bool loadFile(const char*);
+  virtual bool saveFile(
+      const char*,
+      int _start,
+      int _end,
+      double _sampleRate = 1); ///< Note: down sampling not implemented yet
+
+protected:
+  int mNumMarkers;
+  int mNumFrames;
+  std::vector<std::vector<Eigen::Vector3d>> mData;
+  double mFPS;
+  char mFileName[256]; // change to string?
+};
+
+} // namespace utils
+} // namespace dart
+
+#endif // #ifndef DART_UTILS_FILEINFOC3D_HPP_

include/dart/utils/FileInfoDof.hpp

@@ -0,0 +1,109 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_UTILS_FILEINFODOF_HPP_
+#define DART_UTILS_FILEINFODOF_HPP_
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+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_