Animation.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_COMMON_ANIMATION_HH_
#define IGNITION_COMMON_ANIMATION_HH_

#include <map>
#include <string>
#include <vector>

#include <ignition/math/Pose3.hh>
#include <ignition/math/Spline.hh>
#include <ignition/math/RotationSpline.hh>

#include <ignition/common/graphics/Export.hh>

namespace ignition
{
  namespace common
  {
    class KeyFrame;
    class PoseKeyFrame;
    class NumericKeyFrame;
    class AnimationPrivate;
    class TrajectoryInfoPrivate;

    class IGNITION_COMMON_GRAPHICS_VISIBLE Animation
    {
      public: Animation(const std::string &_name,
                  const double _length, const bool _loop);

      public: virtual ~Animation();

      public: double Length() const;

      public: void Length(const double _len);

      public: void Time(const double _time);

      public: void AddTime(const double _time);

      public: double Time() const;

      public: bool InterpolateX() const;

      public: void SetInterpolateX(const bool _interpolateX);

      public: unsigned int KeyFrameCount() const;

      public: common::KeyFrame *KeyFrame(const unsigned int _index) const;

      protected: double KeyFramesAtTime(
                     double _time, common::KeyFrame **_kf1,
                     common::KeyFrame **_kf2,
                     unsigned int &_firstKeyIndex) const;

#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif

      protected: std::string name;

      protected: double length;

      protected: double timePos;

      protected: mutable bool build;

      protected: bool loop;

      protected: typedef std::vector<common::KeyFrame*> KeyFrame_V;

      protected: KeyFrame_V keyFrames;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };

    class IGNITION_COMMON_GRAPHICS_VISIBLE PoseAnimation : public Animation
    {
      public: PoseAnimation(const std::string &_name,
                  const double _length, const bool _loop);

      public: virtual ~PoseAnimation();

      public: PoseKeyFrame *CreateKeyFrame(const double _time);

      public: void InterpolatedKeyFrame(PoseKeyFrame &_kf) const;

      protected: void InterpolatedKeyFrame(const double _time,
                                              PoseKeyFrame &_kf) const;

      protected: void BuildInterpolationSplines() const;

      private: mutable math::Spline *positionSpline;

      private: mutable math::RotationSpline *rotationSpline;
    };

    class IGNITION_COMMON_GRAPHICS_VISIBLE NumericAnimation : public Animation
    {
      public: NumericAnimation(const std::string &_name,
                               const double _length, const bool _loop);

      public: virtual ~NumericAnimation();

      public: NumericKeyFrame *CreateKeyFrame(const double _time);

      public: void InterpolatedKeyFrame(NumericKeyFrame &_kf) const;
    };

    class IGNITION_COMMON_GRAPHICS_VISIBLE TrajectoryInfo
    {
      public: TrajectoryInfo();

      public: TrajectoryInfo(const TrajectoryInfo &_trajInfo);

      public: TrajectoryInfo(TrajectoryInfo &&_trajInfo) noexcept;

      public: ~TrajectoryInfo();

      public: TrajectoryInfo &operator=(const TrajectoryInfo &_trajInfo);

      public: void CopyFrom(const TrajectoryInfo &_trajInfo);

      public: unsigned int Id() const;

      public: void SetId(unsigned int _id);

      public: unsigned int AnimIndex() const;

      public: void SetAnimIndex(unsigned int _index);

      public: std::chrono::steady_clock::duration Duration() const;

      public: double DistanceSoFar(
          const std::chrono::steady_clock::duration &_time) const;

      public: std::chrono::steady_clock::time_point StartTime() const;

      public: void SetStartTime(
          const std::chrono::steady_clock::time_point &_startTime);

      public: std::chrono::steady_clock::time_point EndTime() const;

      public: void SetEndTime(
          const std::chrono::steady_clock::time_point &_endTime);

      public: bool Translated() const;

      public: void SetTranslated(bool _translated);

      public: common::PoseAnimation *Waypoints() const;

      public: void SetWaypoints(
          std::map<std::chrono::steady_clock::time_point, math::Pose3d>
           _waypoints);

      private: TrajectoryInfoPrivate *dataPtr{nullptr};
    };
  }
}
#endif