gz/common/NodeAnimation.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_NODE_ANIMATION_HH_
#define IGNITION_COMMON_NODE_ANIMATION_HH_
 
#include <string>
#include <utility>
 
#include <gz/math/Matrix4.hh>
#include <gz/math/Pose3.hh>
 
#include <ignition/utils/ImplPtr.hh>
 
#include <gz/common/config.hh>
#include <gz/common/graphics/Export.hh>
 
namespace ignition
{
  namespace common
  {
    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;
 
      IGN_UTILS_IMPL_PTR(dataPtr)
    };
  }
}
 
#endif