NodeAnimation.hh

Go to the documentation of this file.

/*
 * 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_NODE_ANIMATION_HH_
#define IGNITION_COMMON_NODE_ANIMATION_HH_

#include <string>
#include <utility>

#include <ignition/math/Matrix4.hh>
#include <ignition/math/Pose3.hh>

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

namespace ignition
{
  namespace common
  {
    class NodeAnimationPrivate;

    class IGNITION_COMMON_GRAPHICS_VISIBLE NodeAnimation
    {
      public: explicit NodeAnimation(const std::string &_name);

      public: ~NodeAnimation();

      public: void SetName(const std::string &_name);

      public: std::string Name() const;

      public: void AddKeyFrame(const double _time,
                  const math::Matrix4d &_trans);

      public: void AddKeyFrame(const double _time, const math::Pose3d &_pose);

      public: unsigned int FrameCount() const;

      public: void KeyFrame(const unsigned int _i, double &_time,
                      math::Matrix4d &_trans) const;

      public: std::pair<double, math::Matrix4d> KeyFrame(
                      const unsigned int _i) const;

      public: double Length() const;

      public: ignition::math::Matrix4d FrameAt(const double _time,
                  const bool _loop = true) const;

      public: void Scale(const double _scale);

      public: double TimeAtX(const double _x) const;

      private: NodeAnimationPrivate *data;
    };
  }
}

#endif