Gazebo Common

API Reference

6.0.0
Animation.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_ANIMATION_HH_
18#define GZ_COMMON_ANIMATION_HH_
19
20#include <map>
21#include <string>
22#include <vector>
23
24#include <gz/math/Pose3.hh>
25#include <gz/math/Spline.hh>
27
28#include <gz/utils/ImplPtr.hh>
29
30#include <gz/common/graphics/Export.hh>
31
32namespace gz
33{
34 namespace common
35 {
36 class KeyFrame;
37 class PoseKeyFrame;
38 class NumericKeyFrame;
39
43 class GZ_COMMON_GRAPHICS_VISIBLE Animation
44 {
49 public: Animation(const std::string &_name,
50 const double _length, const bool _loop);
51
54 public: double Length() const;
55
58 public: void Length(const double _len);
59
62 public: void Time(const double _time);
63
66 public: void AddTime(const double _time);
67
70 public: double Time() const;
71
74 public: bool InterpolateX() const;
75
78 public: void SetInterpolateX(const bool _interpolateX);
79
82 public: unsigned int KeyFrameCount() const;
83
87 public: common::KeyFrame *KeyFrame(const unsigned int _index) const;
88
92 protected: template<typename KeyFrameType>
93 KeyFrameType *CreateKeyFrame(const double _time);
94
101 protected: double KeyFramesAtTime(
102 double _time, common::KeyFrame **_kf1,
103 common::KeyFrame **_kf2,
104 unsigned int &_firstKeyIndex) const;
105
107 GZ_UTILS_IMPL_PTR(dataPtr)
108 };
109
111 class GZ_COMMON_GRAPHICS_VISIBLE PoseAnimation : public Animation
112 {
122 public: PoseAnimation(const std::string &_name,
123 const double _length, const bool _loop,
124 double _tension = 0.0);
125
129 public: PoseKeyFrame *CreateKeyFrame(const double _time);
130
134
138 protected: void InterpolatedKeyFrame(const double _time,
139 PoseKeyFrame &_kf);
140
142 protected: void BuildInterpolationSplines();
143
145 GZ_UTILS_IMPL_PTR(dataPtr)
146 };
147
149 class GZ_COMMON_GRAPHICS_VISIBLE NumericAnimation : public Animation
150 {
155 public: NumericAnimation(const std::string &_name,
156 const double _length, const bool _loop);
157
161 public: NumericKeyFrame *CreateKeyFrame(const double _time);
162
166 public: void InterpolatedKeyFrame(NumericKeyFrame &_kf) const;
167
169 GZ_UTILS_IMPL_PTR(dataPtr)
170 };
171
174 class GZ_COMMON_GRAPHICS_VISIBLE TrajectoryInfo
175 {
177 public: TrajectoryInfo();
178
181 public: unsigned int Id() const;
182
185 public: void SetId(unsigned int _id);
186
189 public: unsigned int AnimIndex() const;
190
194 public: void SetAnimIndex(unsigned int _index);
195
198 public: std::chrono::steady_clock::duration Duration() const;
199
203 public: double DistanceSoFar(
204 const std::chrono::steady_clock::duration &_time) const;
205
208 public: std::chrono::steady_clock::time_point StartTime() const;
209
212 public: void SetStartTime(
213 const std::chrono::steady_clock::time_point &_startTime);
214
217 public: std::chrono::steady_clock::time_point EndTime() const;
218
221 public: void SetEndTime(
222 const std::chrono::steady_clock::time_point &_endTime);
223
226 public: bool Translated() const;
227
230 public: void SetTranslated(bool _translated);
231
235
244 public: void SetWaypoints(
246 _waypoints, double _tension = 0.0);
247
249 GZ_UTILS_IMPL_PTR(dataPtr)
250 };
251 }
252}
253#endif