SkeletonAnimation.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _GAZEBO_SKELETONANIMATION_HH_
18 #define _GAZEBO_SKELETONANIMATION_HH_
19 
20 #include <map>
21 #include <utility>
22 #include <string>
23 
24 #include <ignition/math/Matrix4.hh>
25 #include <ignition/math/Pose3.hh>
26 
27 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace common
33  {
36 
39  class GZ_COMMON_VISIBLE NodeAnimation
40  {
43  public: explicit NodeAnimation(const std::string &_name);
44 
46  public: ~NodeAnimation();
47 
50  public: void SetName(const std::string &_name);
51 
54  public: std::string GetName() const;
55 
59  public: void AddKeyFrame(const double _time,
60  const ignition::math::Matrix4d &_trans);
61 
65  public: void AddKeyFrame(const double _time,
66  const ignition::math::Pose3d &_pose);
67 
70  public: unsigned int GetFrameCount() const;
71 
78  public: void GetKeyFrame(const unsigned int _i, double &_time,
79  ignition::math::Matrix4d &_trans) const;
80 
86  public: std::pair<double, ignition::math::Matrix4d> KeyFrame(
87  const unsigned int _i) const;
88 
91  public: double GetLength() const;
92 
99  public: ignition::math::Matrix4d FrameAt(
100  double _time, bool _loop = true) const;
101 
105  public: void Scale(const double _scale);
106 
113  public: double GetTimeAtX(const double _x) const;
114 
116  protected: std::string name;
117 
119  protected: std::map<double, ignition::math::Matrix4d> keyFrames;
120 
122  protected: double length;
123  };
124 
126  class GZ_COMMON_VISIBLE SkeletonAnimation
127  {
130  public: explicit SkeletonAnimation(const std::string &_name);
131 
135 
138  public: void SetName(const std::string &_name);
139 
142  public: std::string GetName() const;
143 
146  public: unsigned int GetNodeCount() const;
147 
151  public: bool HasNode(const std::string &_node) const;
152 
157  public: void AddKeyFrame(const std::string &_node, const double _time,
158  const ignition::math::Matrix4d &_mat);
159 
165  public: void AddKeyFrame(const std::string &_node, const double _time,
166  const ignition::math::Pose3d &_pose);
167 
177  public: ignition::math::Matrix4d NodePoseAt(const std::string &_node,
178  const double _time, const bool _loop = true);
179 
188  public: std::map<std::string, ignition::math::Matrix4d> PoseAt(
189  const double _time, const bool _loop = true) const;
190 
199  public: std::map<std::string, ignition::math::Matrix4d> PoseAtX(
200  const double _x, const std::string &_node,
201  const bool _loop = true) const;
202 
203 
206  public: void Scale(const double _scale);
207 
210  public: double GetLength() const;
211 
213  protected: std::string name;
214 
216  protected: double length;
217 
219  protected: std::map<std::string, NodeAnimation*> animations;
220  };
222  }
223 }
224 
225 #endif
common
Definition: FuelModelDatabase.hh:42
Node animation.
Definition: SkeletonAnimation.hh:40
void SetName(const std::string &_name)
Changes the name of the animation.
NodeAnimation(const std::string &_name)
constructor
~NodeAnimation()
Destructor. It empties the key frames list.
ignition::math::Matrix4d FrameAt(double _time, bool _loop=true) const
Returns a frame transformation at a specific time if a node does not exist at that time (with toleran...
std::map< double, ignition::math::Matrix4d > keyFrames
the dictionary of key frames, indexed by time
Definition: SkeletonAnimation.hh:119
unsigned int GetFrameCount() const
Returns the number of key frames.
void AddKeyFrame(const double _time, const ignition::math::Matrix4d &_trans)
Adds a key frame at a specific time.
double length
the duration of the animations (time of last key frame)
Definition: SkeletonAnimation.hh:122
std::string GetName() const
Returns the name.
std::string name
the name of the animation
Definition: SkeletonAnimation.hh:116
void GetKeyFrame(const unsigned int _i, double &_time, ignition::math::Matrix4d &_trans) const
Finds a key frame using the index.
void Scale(const double _scale)
Scales each transformation in the key frames.
std::pair< double, ignition::math::Matrix4d > KeyFrame(const unsigned int _i) const
Returns a key frame using the index.
double GetTimeAtX(const double _x) const
Returns the time where a transformation's translational value along the X axis is equal to _x.
double GetLength() const
Returns the duration of the animations.
void AddKeyFrame(const double _time, const ignition::math::Pose3d &_pose)
Adds a key frame at a specific time.
Skeleton animation.
Definition: SkeletonAnimation.hh:127
void SetName(const std::string &_name)
Changes the name.
std::map< std::string, ignition::math::Matrix4d > PoseAt(const double _time, const bool _loop=true) const
Returns a dictionary of transformations indexed by name at a specific time if a node does not exist a...
unsigned int GetNodeCount() const
Returns the number of animation nodes.
bool HasNode(const std::string &_node) const
Looks for a node with a specific name in the animations.
double length
the duration of the longest animation
Definition: SkeletonAnimation.hh:216
SkeletonAnimation(const std::string &_name)
The Constructor.
std::string GetName() const
Returns the name.
ignition::math::Matrix4d NodePoseAt(const std::string &_node, const double _time, const bool _loop=true)
Returns the key frame transformation for a named animation at a specific time if a node does not exis...
std::string name
the node name
Definition: SkeletonAnimation.hh:213
void AddKeyFrame(const std::string &_node, const double _time, const ignition::math::Pose3d &_pose)
Adds or replaces a named key frame at a specific time.
void Scale(const double _scale)
Scales every animation in the animations list.
std::map< std::string, ignition::math::Matrix4d > PoseAtX(const double _x, const std::string &_node, const bool _loop=true) const
Returns a dictionary of transformations indexed by name where a named node transformation's translati...
double GetLength() const
Returns the duration of the animations.
std::map< std::string, NodeAnimation * > animations
a dictionary of node animations
Definition: SkeletonAnimation.hh:219
void AddKeyFrame(const std::string &_node, const double _time, const ignition::math::Matrix4d &_mat)
Adds or replaces a named key frame at a specific time.
Forward declarations for the common classes.
Definition: Animation.hh:27