52 lines
1.6 KiB
C++
52 lines
1.6 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 <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/common/Animation.hh"
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#include "gazebo/common/KeyFrame.hh"
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#include "gazebo/physics/Model.hh"
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#include "gazebo/gazebo.hh"
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namespace gazebo
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{
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class AnimatePose : public ModelPlugin
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{
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public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
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{
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gazebo::common::PoseAnimationPtr anim(
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new gazebo::common::PoseAnimation("test", 10.0, true));
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gazebo::common::PoseKeyFrame *key;
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key = anim->CreateKeyFrame(0);
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key->Translation(ignition::math::Vector3d(0, 0, 0));
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key->Rotation(ignition::math::Quaterniond(0, 0, 0));
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key = anim->CreateKeyFrame(10.0);
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key->Translation(ignition::math::Vector3d(5, 0, 0));
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key->Rotation(ignition::math::Quaterniond(0, 0, 1.5707));
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_parent->SetAnimation(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(AnimatePose)
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}
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