Gazebo Common

API Reference

5.6.0
gz/common/SkeletonAnimation.hh
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1 /*
2  * Copyright (C) 2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_COMMON_SKELETONANIMATION_HH_
18 #define GZ_COMMON_SKELETONANIMATION_HH_
19 
20 #include <map>
21 #include <utility>
22 #include <string>
23 
24 #include <gz/math/Matrix4.hh>
25 #include <gz/math/Pose3.hh>
26 
27 #include <gz/utils/ImplPtr.hh>
28 
30 #include <gz/common/graphics/Export.hh>
31 
32 namespace gz
33 {
34  namespace common
35  {
39  class GZ_COMMON_GRAPHICS_VISIBLE SkeletonAnimation
40  {
43  public: explicit SkeletonAnimation(const std::string &_name);
44 
47  public: ~SkeletonAnimation();
48 
51  public: void SetName(const std::string& _name);
52 
55  public: std::string Name() const;
56 
59  public: unsigned int NodeCount() const;
60 
65  const;
66 
69  public: bool XDisplacement() const;
70 
74  public: bool HasNode(const std::string &_node) const;
75 
80  public: void AddKeyFrame(const std::string &_node, const double _time,
81  const math::Matrix4d &_mat);
82 
87  public: void AddKeyFrame(const std::string &_node, const double _time,
88  const math::Pose3d &_pose);
89 
99  public: math::Matrix4d NodePoseAt(const std::string &_node,
100  const double _time, const bool _loop = true) const;
101 
111  const double _time, const bool _loop = true) const;
112 
122  const std::string &_node, const bool _loop = true) const;
123 
126  public: void Scale(const double _scale);
127 
130  public: double Length() const;
131 
133  GZ_UTILS_IMPL_PTR(dataPtr)
134  };
135  }
136 }
137 #endif