Gazebo Common
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5.6.0
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src
gz-common
graphics
include
gz
common
gz/common/Skeleton.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_COMMON_SKELETON_HH_
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#define GZ_COMMON_SKELETON_HH_
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#include <vector>
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#include <string>
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#include <map>
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#include <utility>
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#include <gz/math/Matrix4.hh>
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#include <gz/utils/ImplPtr.hh>
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#include <
gz/common/SkeletonNode.hh
>
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#include <gz/common/graphics/Export.hh>
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namespace
gz
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{
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namespace
common
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{
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class
SkeletonAnimation;
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class
GZ_COMMON_GRAPHICS_VISIBLE
Skeleton
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{
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public
:
Skeleton
();
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public
:
explicit
Skeleton
(
SkeletonNode
*_root);
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public
:
virtual
~Skeleton
();
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public
:
void
RootNode
(
SkeletonNode
*_node);
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public
:
SkeletonNode
*
RootNode
()
const
;
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public
:
SkeletonNode
*
NodeByName
(
const
std::string
&_name)
const
;
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public
:
SkeletonNode
*
NodeById
(
const
std::string
&_id)
const
;
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public
:
SkeletonNode
*
NodeByHandle
(
const
unsigned
int
_handle)
const
;
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public
:
unsigned
int
NodeCount
()
const
;
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public
:
unsigned
int
JointCount
()
const
;
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public
:
void
Scale
(
const
double
_scale);
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public
:
void
SetBindShapeTransform
(
const
math::Matrix4d
&_trans);
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public
:
math::Matrix4d
BindShapeTransform
()
const
;
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public
:
void
PrintTransforms
()
const
;
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public
:
const
SkeletonNodeMap
&
Nodes
()
const
;
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public
:
void
SetNumVertAttached
(
const
unsigned
int
_vertices);
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public
:
void
AddVertNodeWeight
(
const
unsigned
int
_vertex,
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const
std::string
&_node,
const
double
_weight);
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public
:
unsigned
int
VertNodeWeightCount
(
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const
unsigned
int
_vertex)
const
;
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public
:
std::pair<std::string, double>
VertNodeWeight
(
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const
unsigned
int
_v,
const
unsigned
int
_i)
const
;
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public
:
unsigned
int
AnimationCount
()
const
;
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public
:
SkeletonAnimation
*
Animation
(
const
unsigned
int
_i)
const
;
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public
:
void
AddAnimation
(
SkeletonAnimation
*_anim);
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public
:
bool
AddBvhAnimation
(
const
std::string
&_bvhFile,
double
_scale);
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public
:
std::string
NodeNameAnimToSkin
(
unsigned
int
_index,
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const
std::string
&_animNodeName);
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public
:
math::Matrix4d
AlignTranslation
(
unsigned
int
_index,
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const
std::string
&_animNodeName);
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public
:
math::Matrix4d
AlignRotation
(
unsigned
int
_index,
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const
std::string
&_animNodeName);
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private
:
void
BuildNodeMap();
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GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
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};
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}
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}
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#endif