56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
/*
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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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#include <map>
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#include "gazebo/gazebo.hh"
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#include "gazebo/common/common.hh"
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#include "gazebo/physics/physics.hh"
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namespace gazebo
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{
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class AnimateJoints : public ModelPlugin
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{
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public: void Load(physics::ModelPtr _model, sdf::ElementPtr /*_sdf*/)
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{
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std::map<std::string, common::NumericAnimationPtr> anim;
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// Create a new animation for the "my_joint" define in the SDF file.
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// The animation will last for 5.0 seconds, and it will repeat
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anim["my_joint"].reset(new common::NumericAnimation(
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"my_animation", 5.0, true));
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// Create a key frame for the starting position of the joint
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common::NumericKeyFrame *key = anim["my_joint"]->CreateKeyFrame(0.0);
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key->SetValue(0.1);
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// Create a key frame half-way through the animation
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key = anim["my_joint"]->CreateKeyFrame(2.5);
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key->SetValue(2.0);
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// Create the end key frame to be at the same position as the start
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// for a smooth animation
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key = anim["my_joint"]->CreateKeyFrame(5.0);
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key->SetValue(0.1);
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// Attach the animation to the model
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_model->SetJointAnimation(anim);
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}
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};
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// Register this plugin with the simulator
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GZ_REGISTER_MODEL_PLUGIN(AnimateJoints)
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}
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