A skeleton, usually used for animation purposes. More...

#include <gz/common/Skeleton.hh>

Public Member Functions
	Skeleton ()
	Constructor.

	Skeleton (SkeletonNode *_root)
	Constructor.

virtual	~Skeleton ()
	Destructor.

void	AddAnimation (SkeletonAnimation *_anim)
	Add an animation. The skeleton does not take ownership of the animation.

bool	AddBvhAnimation (const std::string &_bvhFile, double _scale)
	Add an animation from BVH file.

void	AddVertNodeWeight (const unsigned int _vertex, const std::string &_node, const double _weight)
	Add a new weight to a node (bone)

math::Matrix4d	AlignRotation (unsigned int _index, const std::string &_animNodeName)
	Get the transformation to align rotation from the animation skeleton to skin skeleton.

math::Matrix4d	AlignTranslation (unsigned int _index, const std::string &_animNodeName)
	Get the transformation to align translation from the animation skeleton to skin skeleton.

SkeletonAnimation *	Animation (const unsigned int _i) const
	Find animation.

unsigned int	AnimationCount () const
	Returns the number of animations.

math::Matrix4d	BindShapeTransform () const
	Return bind pose skeletal transform.

unsigned int	JointCount () const
	Returns the number of joints.

SkeletonNode *	NodeByHandle (const unsigned int _handle) const
	Find or create node with handle.

SkeletonNode *	NodeById (const std::string &_id) const
	Find node by index.

SkeletonNode *	NodeByName (const std::string &_name) const
	Find a node.

unsigned int	NodeCount () const
	Returns the node count.

std::string	NodeNameAnimToSkin (unsigned int _index, const std::string &_animNodeName)
	Finding the skin node name that corresponds to the given animation node name.

const SkeletonNodeMap &	Nodes () const
	Get a copy or the node dictionary.

void	PrintTransforms () const
	Outputs the transforms to standard out.

SkeletonNode *	RootNode () const
	Return the root.

void	RootNode (SkeletonNode *_node)
	Change the root node.

void	Scale (const double _scale)
	Scale all nodes, transforms and animation data.

void	SetBindShapeTransform (const math::Matrix4d &_trans)
	Set the bind pose skeletal transform.

void	SetNumVertAttached (const unsigned int _vertices)
	Resizes the raw node weight array.

std::pair< std::string, double >	VertNodeWeight (const unsigned int _v, const unsigned int _i) const
	Weight of a bone for a vertex.

unsigned int	VertNodeWeightCount (const unsigned int _vertex) const
	Returns the number of bone weights for a vertex.

Detailed Description

A skeleton, usually used for animation purposes.

Constructor & Destructor Documentation

◆ Skeleton() [1/2]

Skeleton ( )

Constructor.

◆ Skeleton() [2/2]

Skeleton ( SkeletonNode * _root )

explicit

Constructor.

Parameters

[in] _root node

◆ ~Skeleton()

virtual ~Skeleton ( )

virtual

Destructor.

Member Function Documentation

◆ AddAnimation()

void AddAnimation ( SkeletonAnimation * _anim )

Add an animation. The skeleton does not take ownership of the animation.

Parameters

[in] _anim the animation to add

◆ AddBvhAnimation()

bool AddBvhAnimation	(	const std::string &	_bvhFile,
		double	_scale
	)

Add an animation from BVH file.

Parameters

[in]	_bvhFile	the bvh file to load animation from
[in]	_scale	the scale of the animation

Returns: True if the BVH animation is compatible with skeleton

◆ AddVertNodeWeight()

void AddVertNodeWeight	(	const unsigned int	_vertex,
		const std::string &	_node,
		const double	_weight
	)

Add a new weight to a node (bone)

Parameters

[in]	_vertex	index of the vertex
[in]	_node	name of the bone
[in]	_weight	the new weight (range 0 to 1)

◆ AlignRotation()

math::Matrix4d AlignRotation	(	unsigned int	_index,
		const std::string &	_animNodeName
	)

Get the transformation to align rotation from the animation skeleton to skin skeleton.

Parameters

[in]	_index	the animation index
[in]	_animNodeName	the animation node name

Returns: The transformation to align rotation

◆ AlignTranslation()

math::Matrix4d AlignTranslation	(	unsigned int	_index,
		const std::string &	_animNodeName
	)

Get the transformation to align translation from the animation skeleton to skin skeleton.

Parameters

[in]	_index	the animation index
[in]	_animNodeName	the animation node name

Returns: The transformation to align translation

◆ Animation()

SkeletonAnimation * Animation ( const unsigned int _i ) const

Find animation.

Parameters

[in] _i the animation index

Returns: the animation, or NULL if _i is out of bounds

◆ AnimationCount()

unsigned int AnimationCount ( ) const

Returns the number of animations.

Returns: the count

◆ BindShapeTransform()

math::Matrix4d BindShapeTransform ( ) const

Return bind pose skeletal transform.

Returns: A matrix

◆ JointCount()

unsigned int JointCount ( ) const

Returns the number of joints.

Returns: the count

◆ NodeByHandle()

SkeletonNode * NodeByHandle ( const unsigned int _handle ) const

Find or create node with handle.

Parameters

[in] _handle

Returns: the node. A new node is created if it didn't exist

◆ NodeById()

SkeletonNode * NodeById ( const std::string & _id ) const

Find node by index.

Parameters

[in] _id the index

Returns: the node, or NULL if not found

◆ NodeByName()

SkeletonNode * NodeByName ( const std::string & _name ) const

Find a node.

Parameters

[in] _name the name of the node to look for

Returns: the node, or NULL if not found

◆ NodeCount()

unsigned int NodeCount ( ) const

Returns the node count.

Returns: the count

◆ NodeNameAnimToSkin()

std::string NodeNameAnimToSkin	(	unsigned int	_index,
		const std::string &	_animNodeName
	)

Finding the skin node name that corresponds to the given animation node name.

Parameters

[in]	_index	the animation index
[in]	_animNodeName	the given animation node name

Returns: The corresponding skin node name in the skeleton

◆ Nodes()

const SkeletonNodeMap & Nodes ( ) const

Get a copy or the node dictionary.

Returns: A copy of the nodes.

◆ PrintTransforms()

void PrintTransforms ( ) const

Outputs the transforms to standard out.

◆ RootNode() [1/2]

SkeletonNode * RootNode ( ) const

Return the root.

Returns: the root

◆ RootNode() [2/2]

void RootNode ( SkeletonNode * _node )

Change the root node.

Parameters

[in] _node the new node

◆ Scale()

void Scale ( const double _scale )

Scale all nodes, transforms and animation data.

Parameters

[in] the scaling factor

◆ SetBindShapeTransform()

void SetBindShapeTransform ( const math::Matrix4d & _trans )

Set the bind pose skeletal transform.

Parameters

[in] _trans the transform

◆ SetNumVertAttached()

void SetNumVertAttached ( const unsigned int _vertices )

Resizes the raw node weight array.

Parameters

[in] _vertices the new size

◆ VertNodeWeight()

std::pair< std::string, double > VertNodeWeight	(	const unsigned int	_v,
		const unsigned int	_i
	)		const

Weight of a bone for a vertex.

Parameters

[in]	_v	the index of the vertex
[in]	_i	the index of the weight for that vertex

Returns: a pair containing the name of the node and the weight

◆ VertNodeWeightCount()

unsigned int VertNodeWeightCount ( const unsigned int _vertex ) const

Returns the number of bone weights for a vertex.

Parameters

[in] _vertex the index of the vertex

Returns: the count

The documentation for this class was generated from the following file:

Skeleton.hh

Gazebo Common

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Skeleton() [1/2]

◆ Skeleton() [2/2]

◆ ~Skeleton()

Member Function Documentation

◆ AddAnimation()

◆ AddBvhAnimation()

◆ AddVertNodeWeight()

◆ AlignRotation()

◆ AlignTranslation()

◆ Animation()

◆ AnimationCount()

◆ BindShapeTransform()

◆ JointCount()

◆ NodeByHandle()

◆ NodeById()

◆ NodeByName()

◆ NodeCount()

◆ NodeNameAnimToSkin()

◆ Nodes()

◆ PrintTransforms()

◆ RootNode() [1/2]

◆ RootNode() [2/2]

◆ Scale()

◆ SetBindShapeTransform()

◆ SetNumVertAttached()

◆ VertNodeWeight()

◆ VertNodeWeightCount()