A skeleton node. More...

#include <common/common.hh>

Public Types
enum	SkeletonNodeType { NODE, JOINT }
	enumeration of node types More...

Public Member Functions
	SkeletonNode (SkeletonNode *_parent)
	Constructor.

	SkeletonNode (SkeletonNode *_parent, std::string _name, std::string _id, SkeletonNodeType _type=JOINT)
	Constructor.

virtual	~SkeletonNode ()
	Destructor.

void	AddChild (SkeletonNode *_child)
	Add a new child.

void	AddRawTransform (NodeTransform _t)
	Add a raw transform.

SkeletonNode *	GetChild (unsigned int _index)
	Find a child by index.

SkeletonNode *	GetChildById (std::string _id)
	Get child by string id.

SkeletonNode *	GetChildByName (std::string _name)
	Get child by name.

unsigned int	GetChildCount ()
	Returns the children count.

unsigned int	GetHandle ()
	Get the handle index.

std::string	GetId ()
	Returns the index.

math::Matrix4	GetInverseBindTransform ()
	Retrieve the inverse of the bind pose skeletal transform.

math::Matrix4	GetModelTransform ()
	Retrieve the model transform.

std::string	GetName ()
	Returns the name.

unsigned int	GetNumRawTrans ()
	Return the raw transformations count.

SkeletonNode *	GetParent ()
	Returns the parent node.

NodeTransform	GetRawTransform (unsigned int _i)
	Find a raw transformation.

std::vector< NodeTransform >	GetRawTransforms ()
	Retrieve the raw transformations.

math::Matrix4	GetTransform ()
	Get transform relative to parent.

std::vector< NodeTransform >	GetTransforms ()
	Returns a copy of the array of transformations.

bool	IsJoint ()
	Is a joint query.

bool	IsRootNode ()
	Queries wether a node has no parent parent.

void	Reset (bool _resetChildren)
	Reset the transformation to the initial transformation.

void	SetHandle (unsigned int _h)
	Assign a handle number.

void	SetId (std::string _id)
	Change the id string.

void	SetInitialTransform (math::Matrix4 _tras)
	Sets the initial transformation.

void	SetInverseBindTransform (math::Matrix4 _invBM)
	Assign the inverse of the bind pose skeletal transform.

void	SetModelTransform (math::Matrix4 _trans, bool _updateChildren=true)
	Set the model transformation.

void	SetName (std::string _name)
	Change the name.

void	SetParent (SkeletonNode *_parent)
	Set the parent node.

void	SetTransform (math::Matrix4 _trans, bool _updateChildren=true)
	Set a transformation.

void	SetType (SkeletonNodeType _type)
	Change the skeleton node type.

void	UpdateChildrenTransforms ()
	Apply model transformations in order for each node in the tree.

Protected Attributes
std::vector< SkeletonNode * >	children
	the children nodes

unsigned int	handle
	handle index number

std::string	id
	a string identifier

math::Matrix4	initialTransform
	the initial transformation

math::Matrix4	invBindTransform
	the inverse of the bind pose skeletal transform

math::Matrix4	modelTransform
	the model transformation

std::string	name
	the name of the skeletal node

SkeletonNode *	parent
	the parent node

std::vector< NodeTransform >	rawTransforms
	the raw transformation

math::Matrix4	transform
	the transform

SkeletonNodeType	type
	the type fo node

Detailed Description

A skeleton node.

Member Enumeration Documentation

enum gazebo::common::SkeletonNode::SkeletonNodeType

enumeration of node types

Enumerator:

NODE
JOINT

Constructor & Destructor Documentation

gazebo::common::SkeletonNode::SkeletonNode ( SkeletonNode * _parent )

Constructor.

Parameters

[in] _parent The parent node

gazebo::common::SkeletonNode::SkeletonNode	(	SkeletonNode *	_parent,
		std::string	_name,
		std::string	_id,
		SkeletonNodeType	_type = `JOINT`
	)

Constructor.

Parameters

[in]	_parent	the parent node
[in]	_name	name of node
[in]	_id	Id of node
[in]	_type	The type of this node

virtual gazebo::common::SkeletonNode::~SkeletonNode ( )

virtual

Destructor.

Member Function Documentation

void gazebo::common::SkeletonNode::AddChild ( SkeletonNode * _child )

Add a new child.

Parameters

[in] _child a child

void gazebo::common::SkeletonNode::AddRawTransform ( NodeTransform _t )

Add a raw transform.

Parameters

[in] _t the transform

SkeletonNode* gazebo::common::SkeletonNode::GetChild ( unsigned int _index )

Find a child by index.

Parameters

[in] _index the index

Returns: the child skeleton. NO BOUNDS CHECKING

SkeletonNode* gazebo::common::SkeletonNode::GetChildById ( std::string _id )

Get child by string id.

Parameters

[in] _id the string id

Returns: the child skeleton or NULL if not found

SkeletonNode* gazebo::common::SkeletonNode::GetChildByName ( std::string _name )

Get child by name.

Parameters

[in] _name the name of the child skeleton

Returns: the skeleton, or NULL if not found

unsigned int gazebo::common::SkeletonNode::GetChildCount ( )

Returns the children count.

Returns: the count

unsigned int gazebo::common::SkeletonNode::GetHandle ( )

Get the handle index.

Returns: the handle index

std::string gazebo::common::SkeletonNode::GetId ( )

Returns the index.

Returns: the id string

math::Matrix4 gazebo::common::SkeletonNode::GetInverseBindTransform ( )

Retrieve the inverse of the bind pose skeletal transform.

Returns: the transform

math::Matrix4 gazebo::common::SkeletonNode::GetModelTransform ( )

Retrieve the model transform.

Returns: the transform

std::string gazebo::common::SkeletonNode::GetName ( )

Returns the name.

Returns: the name

unsigned int gazebo::common::SkeletonNode::GetNumRawTrans ( )

Return the raw transformations count.

Returns: the count

SkeletonNode* gazebo::common::SkeletonNode::GetParent ( )

Returns the parent node.

Returns: the parent

NodeTransform gazebo::common::SkeletonNode::GetRawTransform ( unsigned int _i )

Find a raw transformation.

Parameters

[in] _i the index of the transformation

Returns: the node transform. NO BOUNDS CHECKING PERFORMED

std::vector<NodeTransform> gazebo::common::SkeletonNode::GetRawTransforms ( )

Retrieve the raw transformations.

Returns: an array of transformations

math::Matrix4 gazebo::common::SkeletonNode::GetTransform ( )

Get transform relative to parent.

std::vector<NodeTransform> gazebo::common::SkeletonNode::GetTransforms ( )

Returns a copy of the array of transformations.

Returns: the array of transform (These are the same as the raw trans)

bool gazebo::common::SkeletonNode::IsJoint ( )

Is a joint query.

Returns: true if the skeleton type is a joint, false otherwise

bool gazebo::common::SkeletonNode::IsRootNode ( )

Queries wether a node has no parent parent.

Returns: true if the node has no parent, fasle otherwise

void gazebo::common::SkeletonNode::Reset ( bool _resetChildren )

Reset the transformation to the initial transformation.

Parameters

[in] _resetChildren when true, performs the operation for every node in the tree

void gazebo::common::SkeletonNode::SetHandle ( unsigned int _h )

Assign a handle number.

Parameters

[in] _h the handle

void gazebo::common::SkeletonNode::SetId ( std::string _id )

Change the id string.

Parameters

[in] _id the new id string

void gazebo::common::SkeletonNode::SetInitialTransform ( math::Matrix4 _tras )

Sets the initial transformation.

Parameters

[in] _tras the transfromation matrix

void gazebo::common::SkeletonNode::SetInverseBindTransform ( math::Matrix4 _invBM )

Assign the inverse of the bind pose skeletal transform.

Parameters

[in] _invBM the transform

void gazebo::common::SkeletonNode::SetModelTransform	(	math::Matrix4	_trans,
		bool	_updateChildren = `true`
	)

Set the model transformation.

Parameters

[in]	_trans	the transformation
[in]	_updateChildren	when true the UpdateChildrenTransforms operation is performed

void gazebo::common::SkeletonNode::SetName ( std::string _name )

Change the name.

Parameters

[in] _name the new name

void gazebo::common::SkeletonNode::SetParent ( SkeletonNode * _parent )

Set the parent node.

Parameters

[in] _parent the new parent

void gazebo::common::SkeletonNode::SetTransform	(	math::Matrix4	_trans,
		bool	_updateChildren = `true`
	)

Set a transformation.

Parameters

[in]	_trans	the transformation
[in]	_updateChildren	when true the UpdateChildrenTransforms operation is performed

void gazebo::common::SkeletonNode::SetType ( SkeletonNodeType _type )

Change the skeleton node type.

Parameters

[in] _type the new type

void gazebo::common::SkeletonNode::UpdateChildrenTransforms ( )

Apply model transformations in order for each node in the tree.

Member Data Documentation

std::vector<SkeletonNode*> gazebo::common::SkeletonNode::children

protected

the children nodes

unsigned int gazebo::common::SkeletonNode::handle

protected

handle index number

std::string gazebo::common::SkeletonNode::id

protected

a string identifier

math::Matrix4 gazebo::common::SkeletonNode::initialTransform

protected

the initial transformation

math::Matrix4 gazebo::common::SkeletonNode::invBindTransform

protected

the inverse of the bind pose skeletal transform

math::Matrix4 gazebo::common::SkeletonNode::modelTransform

protected

the model transformation

std::string gazebo::common::SkeletonNode::name

protected

the name of the skeletal node

SkeletonNode* gazebo::common::SkeletonNode::parent

protected

the parent node

std::vector<NodeTransform> gazebo::common::SkeletonNode::rawTransforms

protected

the raw transformation

math::Matrix4 gazebo::common::SkeletonNode::transform

protected

the transform

SkeletonNodeType gazebo::common::SkeletonNode::type

protected

the type fo node

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

Skeleton.hh

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation