gz/common/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 GZ_COMMON_ANIMATION_HH_
#define GZ_COMMON_ANIMATION_HH_
 
#include <map>
#include <string>
#include <vector>
 
#include <gz/math/Pose3.hh>
#include <gz/math/Spline.hh>
#include <gz/math/RotationSpline.hh>
 
#include <gz/common/graphics/Export.hh>
 
namespace ignition
{
  namespace common
  {
    class KeyFrame;
    class PoseKeyFrame;
    class NumericKeyFrame;
    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