228 lines
8.6 KiB
C++
228 lines
8.6 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 _GAZEBO_SKELETONANIMATION_HH_
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#define _GAZEBO_SKELETONANIMATION_HH_
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#include <map>
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#include <utility>
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#include <string>
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#include <ignition/math/Matrix4.hh>
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#include <ignition/math/Pose3.hh>
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#include "gazebo/math/Matrix4.hh"
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#include "gazebo/math/Pose.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/common/CommonTypes.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 Animation
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/// \{
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/// \class NodeAnimation SkeletonAnimation.hh common/common.hh
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/// \brief Node animation
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class GZ_COMMON_VISIBLE NodeAnimation
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{
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/// \brief constructor
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/// \param[in] _name the name of the node
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public: NodeAnimation(const std::string &_name);
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/// \brief Destructor. It empties the key frames list
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public: ~NodeAnimation();
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/// \brief Changes the name of the animation
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/// \param[in] the new name
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public: void SetName(const std::string &_name);
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/// \brief Returns the name
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/// \return the name
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public: std::string GetName() const;
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/// \brief Adds a key frame at a specific time
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/// \param[in] _time the time of the key frame
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/// \param[in] _trans the transformation
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public: void AddKeyFrame(const double _time,
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const ignition::math::Matrix4d &_trans);
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/// \brief Adds a key frame at a specific time
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/// \param[in] _time the time of the key frame
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/// \param[in] _pose the pose
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public: void AddKeyFrame(const double _time,
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const ignition::math::Pose3d &_pose);
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/// \brief Returns the number of key frames.
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/// \return the count
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public: unsigned int GetFrameCount() const;
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/// \brief Finds a key frame using the index. Note the index of a key
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/// frame can change as frames are added.
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/// \param[in] _i the index
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/// \param[out] _time the time of the frame, or -1 if the index id is out
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/// of bounds
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/// \param[out] _trans the transformation for this key frame
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public: void GetKeyFrame(const unsigned int _i, double &_time,
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ignition::math::Matrix4d &_trans) const;
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/// \brief Returns a key frame using the index. Note the index of a key
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/// frame can change as frames are added.
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/// \param[in] _i the index
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/// \return a pair that contains the time and transformation. Time is -1
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/// if the index is out of bounds
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public: std::pair<double, ignition::math::Matrix4d> KeyFrame(
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const unsigned int _i) const;
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/// \brief Returns the duration of the animations
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/// \return the time of the last animation
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public: double GetLength() const;
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/// \brief Returns a frame transformation at a specific time
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/// if a node does not exist at that time (with tolerance of 1e-6 sec),
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/// the transformation is interpolated.
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/// \param[in] _time the time
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/// \param[in] _loop when true, the time is divided by the duration
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/// (see GetLength)
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public: ignition::math::Matrix4d FrameAt(
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double _time, bool _loop = true) const;
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/// \brief Scales each transformation in the key frames. This only affects
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/// the translational values.
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/// \param[in] _scale the scaling factor
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public: void Scale(const double _scale);
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/// \brief Returns the time where a transformation's translational value
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/// along the X axis is equal to _x.
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/// When no transformation is found (within a tolerance of 1e-6), the time
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/// is interpolated.
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/// \param[in] _x the value along x. You must ensure that _x is within a
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/// valid range.
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public: double GetTimeAtX(const double _x) const;
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/// \brief the name of the animation
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protected: std::string name;
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/// \brief the dictionary of key frames, indexed by time
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protected: std::map<double, ignition::math::Matrix4d> keyFrames;
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/// \brief the duration of the animations (time of last key frame)
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protected: double length;
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};
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/// \brief Skeleton animation
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class GZ_COMMON_VISIBLE SkeletonAnimation
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{
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/// \brief The Constructor
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/// \param[in] _name the name of the animation
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public: SkeletonAnimation(const std::string &_name);
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/// \brief The destructor. Clears the list without destroying
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/// the animations
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public: ~SkeletonAnimation();
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/// \brief Changes the name
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/// \param[in] _name the new name
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public: void SetName(const std::string &_name);
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/// \brief Returns the name
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/// \return the name
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public: std::string GetName() const;
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/// \brief Returns the number of animation nodes
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/// \return the count
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public: unsigned int GetNodeCount() const;
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/// \brief Looks for a node with a specific name in the animations
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/// \param[in] _node the name of the node
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/// \return true if the node exits
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public: bool HasNode(const std::string &_node) const;
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/// \brief Adds or replaces a named key frame at a specific time
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/// \param[in] _node the name of the new or existing node
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/// \param[in] _time the time
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/// \param[in] _mat the key frame transformation
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public: void AddKeyFrame(const std::string &_node, const double _time,
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const ignition::math::Matrix4d &_mat);
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/// \brief Adds or replaces a named key frame at a specific time
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/// \param[in] _node the name of the new or existing node
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/// \param[in] _time the time
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/// \param[in] _pose the key frame transformation as a
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/// ignition::math::Pose3d
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public: void AddKeyFrame(const std::string &_node, const double _time,
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const ignition::math::Pose3d &_pose);
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/// \brief Returns the key frame transformation for a named animation at
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/// a specific time
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/// if a node does not exist at that time (with tolerance of 1e-6 sec),
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/// the transformation is interpolated.
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/// \param[in] _node the name of the animation node
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/// \param[in] _time the time
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/// \param[in] _loop when true, the time is divided by the duration
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/// (see GetLength)
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/// \return the transformation
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public: ignition::math::Matrix4d NodePoseAt(const std::string &_node,
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const double _time, const bool _loop = true);
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/// \brief Returns a dictionary of transformations indexed by name at
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/// a specific time
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/// if a node does not exist at that specific time
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/// (with tolerance of 1e-6 sec), the transformation is interpolated.
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/// \param[in] _time the time
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/// \param[in] _loop when true, the time is divided by the duration
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/// (see GetLength)
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/// \return the transformation for every node
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public: std::map<std::string, ignition::math::Matrix4d> PoseAt(
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const double _time, const bool _loop = true) const;
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/// \brief Returns a dictionary of transformations indexed by name where
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/// a named node transformation's translational value along the X axis is
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/// equal to _x.
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/// \param[in] _x the value along x. You must ensure that _x is within a
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/// valid range.
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/// \param[in] _node the name of the animation node
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/// \param[in] _loop when true, the time is divided by the duration
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/// (see GetLength)
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public: std::map<std::string, ignition::math::Matrix4d> PoseAtX(
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const double _x, const std::string &_node,
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const bool _loop = true) const;
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/// \brief Scales every animation in the animations list
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/// \param[in] _scale the scaling factor
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public: void Scale(const double _scale);
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/// \brief Returns the duration of the animations
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/// \return the duration in seconds
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public: double GetLength() const;
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/// \brief the node name
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protected: std::string name;
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/// \brief the duration of the longest animation
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protected: double length;
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/// \brief a dictionary of node animations
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protected: std::map<std::string, NodeAnimation*> animations;
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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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