A skeleton node. More...

#include <ignition/common/SkeletonNode.hh>

Public Types
enum	SkeletonNodeType { NODE, JOINT }
	enumeration of node types More...

Public Member Functions
	SkeletonNode (SkeletonNode *_parent)
	Constructor. More...

	SkeletonNode (SkeletonNode *_parent, const std::string &_name, const std::string &_id, const SkeletonNodeType _type=JOINT)
	Constructor. More...

virtual	~SkeletonNode ()
	Destructor. More...

void	AddChild (SkeletonNode *_child)
	Add a new child. More...

void	AddRawTransform (const NodeTransform &_t)
	Add a raw transform. More...

SkeletonNode *	Child (const unsigned int _index) const
	Find a child by index. More...

SkeletonNode *	ChildById (const std::string &_id) const
	Get child by string id. More...

SkeletonNode *	ChildByName (const std::string &_name) const
	Get child by name. More...

unsigned int	ChildCount () const
	Returns the children count. More...

unsigned int	Handle () const
	Get the handle index. More...

void	Handle (const unsigned int _h)
	Assign a handle number. More...

bool	HasInvBindTransform () const
	Returns true if the node has inv bind transform. \detail to keep ABI compatibility, it checks if the inv bind transform is the default value of zero. More...

std::string	Id () const
	Returns the index. More...

void	Id (const std::string &_id)
	Change the id string. More...

math::Matrix4d	InverseBindTransform () const
	Retrieve the inverse of the bind pose skeletal transform. More...

bool	IsJoint () const
	Is a joint query. More...

bool	IsRootNode () const
	Queries wether a node has no parent parent. More...

math::Matrix4d	ModelTransform () const
	Retrieve the model transform. More...

std::string	Name () const
	Returns the name. More...

void	Name (const std::string &_name)
	Change the name. More...

SkeletonNode *	Parent () const
	Returns the parent node. More...

NodeTransform	RawTransform (const unsigned int _i) const
	Find a raw transformation. More...

unsigned int	RawTransformCount () const
	Return the raw transformations count. More...

std::vector< NodeTransform >	RawTransforms () const
	Retrieve the raw transformations. More...

void	Reset (const bool _resetChildren)
	Reset the transformation to the initial transformation. More...

void	SetInitialTransform (const math::Matrix4d &_trans)
	Sets the initial transformation. More...

void	SetInverseBindTransform (const math::Matrix4d &_invBM)
	Assign the inverse of the bind pose skeletal transform. More...

void	SetModelTransform (const math::Matrix4d &_trans, const bool _updateChildren=true)
	Set the model transformation. More...

void	SetParent (SkeletonNode *_parent)
	Set the parent node. More...

void	SetTransform (const math::Matrix4d &_trans, const bool _updateChildren=true)
	Set a transformation. More...

void	SetType (const SkeletonNodeType _type)
	Change the skeleton node type. More...

math::Matrix4d	Transform () const
	Get transform relative to parent. More...

std::vector< NodeTransform >	Transforms () const
	Returns a copy of the array of transformations. More...

void	UpdateChildrenTransforms ()
	Apply model transformations in order for each node in the tree. More...

Detailed Description

A skeleton node.

Member Enumeration Documentation

◆ SkeletonNodeType

enum SkeletonNodeType

enumeration of node types

Enumerator
NODE
JOINT

Constructor & Destructor Documentation

◆ SkeletonNode() [1/2]

SkeletonNode ( SkeletonNode * _parent )

explicit

Constructor.

Parameters

[in] _parent The parent node

◆ SkeletonNode() [2/2]

SkeletonNode	(	SkeletonNode *	_parent,
		const std::string &	_name,
		const std::string &	_id,
		const SkeletonNodeType	_type = `JOINT`
	)

Constructor.

Parameters

[in]	_parent	the parent node
[in]	_name	name of node
[in]	_id	Id of node
[in]	_type	The type of this node

◆ ~SkeletonNode()

virtual ~SkeletonNode ( )

virtual

Destructor.

Member Function Documentation

◆ AddChild()

void AddChild ( SkeletonNode * _child )

Add a new child.

Parameters

[in] _child a child

◆ AddRawTransform()

void AddRawTransform ( const NodeTransform & _t )

Add a raw transform.

Parameters

[in] _t the transform

◆ Child()

SkeletonNode* Child ( const unsigned int _index ) const

Find a child by index.

Parameters

[in] _index the index

Returns: the child skeleton.

◆ ChildById()

SkeletonNode* ChildById ( const std::string & _id ) const

Get child by string id.

Parameters

[in] _id the string id

Returns: the child skeleton or NULL if not found

◆ ChildByName()

SkeletonNode* ChildByName ( const std::string & _name ) const

Get child by name.

Parameters

[in] _name the name of the child skeleton

Returns: the skeleton, or NULL if not found

◆ ChildCount()

unsigned int ChildCount ( ) const

Returns the children count.

Returns: the count

◆ Handle() [1/2]

unsigned int Handle ( ) const

Get the handle index.

Returns: the handle index

◆ Handle() [2/2]

void Handle ( const unsigned int _h )

Assign a handle number.

Parameters

[in] _h the handle

◆ HasInvBindTransform()

bool HasInvBindTransform ( ) const

Returns true if the node has inv bind transform. \detail to keep ABI compatibility, it checks if the inv bind transform is the default value of zero.

Returns: true if the node has inv bind transform

◆ Id() [1/2]

std::string Id ( ) const

Returns the index.

Returns: the id string

◆ Id() [2/2]

void Id ( const std::string & _id )

Change the id string.

Parameters

[in] _id the new id string

◆ InverseBindTransform()

math::Matrix4d InverseBindTransform ( ) const

Retrieve the inverse of the bind pose skeletal transform.

Returns: the transform

◆ IsJoint()

bool IsJoint ( ) const

Is a joint query.

Returns: true if the skeleton type is a joint, false otherwise

◆ IsRootNode()

bool IsRootNode ( ) const

Queries wether a node has no parent parent.

Returns: true if the node has no parent, fasle otherwise

◆ ModelTransform()

math::Matrix4d ModelTransform ( ) const

Retrieve the model transform.

Returns: the transform

◆ Name() [1/2]

std::string Name ( ) const

Returns the name.

Returns: the name

◆ Name() [2/2]

void Name ( const std::string & _name )

Change the name.

Parameters

[in] _name the new name

◆ Parent()

SkeletonNode* Parent ( ) const

Returns the parent node.

Returns: the parent

◆ RawTransform()

NodeTransform RawTransform ( const unsigned int _i ) const

Find a raw transformation.

Parameters

[in] _i the index of the transformation

Returns: the node transform.

◆ RawTransformCount()

unsigned int RawTransformCount ( ) const

Return the raw transformations count.

Returns: the count

◆ RawTransforms()

std::vector<NodeTransform> RawTransforms ( ) const

Retrieve the raw transformations.

Returns: an array of transformations

◆ Reset()

void Reset ( const bool _resetChildren )

Reset the transformation to the initial transformation.

Parameters

[in] _resetChildren when true, performs the operation for every node in the tree

◆ SetInitialTransform()

void SetInitialTransform ( const math::Matrix4d & _trans )

Sets the initial transformation.

Parameters

[in] _trans the transfromation matrix

◆ SetInverseBindTransform()

void SetInverseBindTransform ( const math::Matrix4d & _invBM )

Assign the inverse of the bind pose skeletal transform.

Parameters

[in] _invBM the transform

◆ SetModelTransform()

void SetModelTransform	(	const math::Matrix4d &	_trans,
		const bool	_updateChildren = `true`
	)

Set the model transformation.

Parameters

[in]	_trans	the transformation
[in]	_updateChildren	when true the UpdateChildrenTransforms operation is performed

◆ SetParent()

void SetParent ( SkeletonNode * _parent )

Set the parent node.

Parameters

[in] _parent the new parent

◆ SetTransform()

void SetTransform	(	const math::Matrix4d &	_trans,
		const bool	_updateChildren = `true`
	)

Set a transformation.

Parameters

[in]	_trans	the transformation
[in]	_updateChildren	when true the UpdateChildrenTransforms operation is performed

◆ SetType()

void SetType ( const SkeletonNodeType _type )

Change the skeleton node type.

Parameters

[in] _type the new type

◆ Transform()

math::Matrix4d Transform ( ) const

Get transform relative to parent.

◆ Transforms()

std::vector<NodeTransform> Transforms ( ) const

Returns a copy of the array of transformations.

Returns: the array of transform (These are the same as the raw trans)

◆ UpdateChildrenTransforms()

void UpdateChildrenTransforms ( )

Apply model transformations in order for each node in the tree.

The documentation for this class was generated from the following file:

gz/common/SkeletonNode.hh

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ SkeletonNodeType

Constructor & Destructor Documentation

◆ SkeletonNode() [1/2]

◆ SkeletonNode() [2/2]

◆ ~SkeletonNode()

Member Function Documentation

◆ AddChild()

◆ AddRawTransform()

◆ Child()

◆ ChildById()

◆ ChildByName()

◆ ChildCount()

◆ Handle() [1/2]

◆ Handle() [2/2]

◆ HasInvBindTransform()

◆ Id() [1/2]

◆ Id() [2/2]

◆ InverseBindTransform()

◆ IsJoint()

◆ IsRootNode()

◆ ModelTransform()

◆ Name() [1/2]

◆ Name() [2/2]

◆ Parent()

◆ RawTransform()

◆ RawTransformCount()

◆ RawTransforms()

◆ Reset()

◆ SetInitialTransform()

◆ SetInverseBindTransform()

◆ SetModelTransform()

◆ SetParent()

◆ SetTransform()

◆ SetType()

◆ Transform()

◆ Transforms()

◆ UpdateChildrenTransforms()