112 lines
3.2 KiB
C++
112 lines
3.2 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _KEYFRAME_HH_
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#define _KEYFRAME_HH_
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#include <ignition/math/Vector3.hh>
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#include <ignition/math/Quaternion.hh>
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Quaternion.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace common
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{
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/// \addtogroup gazebo_common Common
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/// \{
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/// \class KeyFrame KeyFrame.hh common/common.hh
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/// \brief A key frame in an animation
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class GZ_COMMON_VISIBLE KeyFrame
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{
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/// \brief Constructor
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/// \param[in] _time Time of the keyframe in seconds
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public: KeyFrame(double _time);
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/// \brief Destructor
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public: virtual ~KeyFrame();
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/// \brief Get the time of the keyframe
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/// \return the time
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public: double GetTime() const;
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/// \brief time of key frame
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protected: double time;
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};
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/// \brief A keyframe for a PoseAnimation
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class GZ_COMMON_VISIBLE PoseKeyFrame : public KeyFrame
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{
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/// \brief Constructor
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/// \param[in] _time of the keyframe
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public: PoseKeyFrame(double _time);
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/// \brief Destructor
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public: virtual ~PoseKeyFrame();
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/// \brief Set the translation for the keyframe
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/// \param[in] _trans Translation amount
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public: void Translation(const ignition::math::Vector3d &_trans);
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/// \brief Get the translation of the keyframe
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/// \return The translation amount
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public: ignition::math::Vector3d Translation() const;
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/// \brief Set the rotation for the keyframe
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/// \param[in] _rot Rotation amount
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public: void Rotation(const ignition::math::Quaterniond &_rot);
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/// \brief Get the rotation of the keyframe
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/// \return The rotation amount
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public: ignition::math::Quaterniond Rotation() const;
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/// \brief the translation vector
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protected: ignition::math::Vector3d translate;
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/// \brief the rotation quaternion
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protected: ignition::math::Quaterniond rotate;
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};
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/// \brief A keyframe for a NumericAnimation
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class GZ_COMMON_VISIBLE NumericKeyFrame : public KeyFrame
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{
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/// \brief Constructor
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/// \param[in] _time Time of the keyframe
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public: NumericKeyFrame(double _time);
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/// \brief Destructor
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public: virtual ~NumericKeyFrame();
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/// \brief Set the value of the keyframe
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/// \param[in] _value The new value
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public: void SetValue(const double &_value);
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/// \brief Get the value of the keyframe
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/// \return the value of the keyframe
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public: const double &GetValue() const;
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/// \brief numeric value
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protected: double value;
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};
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/// \}
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}
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}
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#endif
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