gz/common/SkeletonNode.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_SKELETON_NODE_HH_
#define IGNITION_COMMON_SKELETON_NODE_HH_
 
#include <map>
#include <string>
#include <vector>
 
#include <ignition/utils/ImplPtr.hh>
 
#include <gz/common/config.hh>
#include <gz/common/NodeTransform.hh>
#include <gz/common/graphics/Export.hh>
 
namespace ignition
{
  namespace common
  {
    class IGNITION_COMMON_GRAPHICS_VISIBLE SkeletonNode
    {
      public: enum SkeletonNodeType {NODE, JOINT};
 
      public: explicit SkeletonNode(SkeletonNode *_parent);
 
      public: SkeletonNode(SkeletonNode *_parent,
                  const std::string &_name,
                  const std::string &_id,
                  const SkeletonNodeType _type = JOINT);
 
      public: virtual ~SkeletonNode();
 
      public: void Name(const std::string &_name);
 
      public: std::string Name() const;
 
      public: void Id(const std::string &_id);
 
      public: std::string Id() const;
 
      public: void SetType(const SkeletonNodeType _type);
 
      public: bool IsJoint() const;
 
      public: void SetTransform(const math::Matrix4d &_trans,
                 const bool _updateChildren = true);
 
      public: void SetModelTransform(const math::Matrix4d &_trans,
                  const bool _updateChildren = true);
 
      public: void UpdateChildrenTransforms();
 
      public: void SetInitialTransform(const math::Matrix4d &_trans);
 
      public: void Reset(const bool _resetChildren);
 
      public: math::Matrix4d Transform() const;
 
      public: void SetParent(SkeletonNode *_parent);
 
      public: SkeletonNode *Parent() const;
 
      public: bool IsRootNode() const;
 
      public: void AddChild(SkeletonNode *_child);
 
      public: unsigned int ChildCount() const;
 
      public: SkeletonNode *Child(const unsigned int _index) const;
 
      public: SkeletonNode *ChildByName(const std::string &_name) const;
 
      public: SkeletonNode *ChildById(const std::string &_id) const;
 
      public: void Handle(const unsigned int _h);
 
      public: unsigned int Handle() const;
 
      public: void SetInverseBindTransform(const math::Matrix4d &_invBM);
 
      public: math::Matrix4d InverseBindTransform() const;
 
      public: bool HasInvBindTransform() const;
 
      public: math::Matrix4d ModelTransform() const;
 
      public: std::vector<NodeTransform> RawTransforms() const;
 
      public: unsigned int RawTransformCount() const;
 
      public: NodeTransform RawTransform(const unsigned int _i) const;
 
      public: void AddRawTransform(const NodeTransform &_t);
 
      public: std::vector<NodeTransform> Transforms() const;
 
      IGN_UTILS_IMPL_PTR(dataPtr)
    };
 
    typedef std::map<unsigned int, SkeletonNode*> SkeletonNodeMap;
  }
}
#endif