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. More...

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

virtual	~SkeletonNode ()
	Destructor. More...

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

void	AddRawTransform (NodeTransform _t)
	Add a raw transform. More...

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

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

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

unsigned int	GetChildCount ()
	Returns the children count. More...

unsigned int	GetHandle ()
	Get the handle index. More...

std::string	GetId ()
	Returns the index. More...

std::string	GetName ()
	Returns the name. More...

unsigned int	GetNumRawTrans ()
	Return the raw transformations count. More...

SkeletonNode *	GetParent ()
	Returns the parent node. More...

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

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

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

bool	HasInvBindTransform ()
	returns true if the node has inv bind transform. More...

ignition::math::Matrix4d	InverseBindTransform ()
	Retrieve the inverse of the bind pose skeletal transform. More...

bool	IsJoint ()
	Is a joint query. More...

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

ignition::math::Matrix4d	ModelTransform () const
	Retrieve the model transform. More...

std::string	Name () const
	Returns the name. More...

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

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

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

void	SetInitialTransform (const ignition::math::Matrix4d &_tras)
	Sets the initial transformation. More...

void	SetInverseBindTransform (const ignition::math::Matrix4d &_invBM)
	Assign the inverse of the bind pose skeletal transform. More...

void	SetModelTransform (const ignition::math::Matrix4d &_trans, bool _updateChildren=true)
	Set the model transformation. More...

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

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

void	SetTransform (const ignition::math::Matrix4d &_trans, bool _updateChildren=true)
	Set a transformation. More...

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

ignition::math::Matrix4d	Transform ()
	Get transform relative to parent. More...

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

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

unsigned int	handle
	handle index number More...

std::string	id
	a string identifier More...

ignition::math::Matrix4d	initialTransform
	the initial transformation More...

ignition::math::Matrix4d	invBindTransform
	the inverse of the bind pose skeletal transform More...

ignition::math::Matrix4d	modelTransform
	the model transformation More...

std::string	name
	the name of the skeletal node More...

SkeletonNode *	parent
	the parent node More...

std::vector< NodeTransform >	rawTransforms
	the raw transformation More...

ignition::math::Matrix4d	transform
	the transform More...

SkeletonNodeType	type
	the type fo node More...

Detailed Description

A skeleton node.

Member Enumeration Documentation

◆ SkeletonNodeType

enum SkeletonNodeType

enumeration of node types

Enumerator
NODE
JOINT

Constructor & Destructor Documentation

◆ SkeletonNode() [1/2]

SkeletonNode ( SkeletonNode * _parent )

explicit

Constructor.

Parameters

[in] _parent The parent node

◆ SkeletonNode() [2/2]

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

◆ ~SkeletonNode()

virtual ~SkeletonNode ( )

virtual

Destructor.

Member Function Documentation

◆ AddChild()

void AddChild ( SkeletonNode * _child )

Add a new child.

Parameters

[in] _child a child

◆ AddRawTransform()

void AddRawTransform ( NodeTransform _t )

Add a raw transform.

Parameters

[in] _t the transform

◆ GetChild()

SkeletonNode* GetChild ( unsigned int _index )

Find a child by index.

Parameters

[in] _index the index

Returns: the child skeleton. NO BOUNDS CHECKING

◆ GetChildById()

SkeletonNode* GetChildById ( std::string _id )

Get child by string id.

Parameters

[in] _id the string id

Returns: the child skeleton or nullptr if not found

◆ GetChildByName()

SkeletonNode* GetChildByName ( std::string _name )

Get child by name.

Parameters

[in] _name the name of the child skeleton

Returns: the skeleton, or nullptr if not found

◆ GetChildCount()

unsigned int GetChildCount ( )

Returns the children count.

Returns: the count

◆ GetHandle()

unsigned int GetHandle ( )

Get the handle index.

Returns: the handle index

◆ GetId()

std::string GetId ( )

Returns the index.

Returns: the id string

◆ GetName()

std::string GetName ( )

Returns the name.

Remarks: not normally needed but it is included to satisfy ABI compatibility.

Returns: the name

◆ GetNumRawTrans()

unsigned int GetNumRawTrans ( )

Return the raw transformations count.

Returns: the count

◆ GetParent()

SkeletonNode* GetParent ( )

Returns the parent node.

Returns: the parent

◆ GetRawTransform()

NodeTransform GetRawTransform ( unsigned int _i )

Find a raw transformation.

Parameters

[in] _i the index of the transformation

Returns: the node transform. NO BOUNDS CHECKING PERFORMED

◆ GetRawTransforms()

std::vector<NodeTransform> GetRawTransforms ( )

Retrieve the raw transformations.

Returns: an array of transformations

◆ GetTransforms()

std::vector<NodeTransform> GetTransforms ( )

Returns a copy of the array of transformations.

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

◆ HasInvBindTransform()

bool HasInvBindTransform ( )

returns true if the node has inv bind transform.

to keep ABI compatibility, it checks if the inv bind transform is the default value of zero.

Returns: true if the node has inv bind transform

◆ InverseBindTransform()

ignition::math::Matrix4d InverseBindTransform ( )

Retrieve the inverse of the bind pose skeletal transform.

Returns: the transform

◆ IsJoint()

bool IsJoint ( )

Is a joint query.

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

◆ IsRootNode()

bool IsRootNode ( )

Queries wether a node has no parent parent.

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

◆ ModelTransform()

ignition::math::Matrix4d ModelTransform ( ) const

Retrieve the model transform.

Returns: the transform

◆ Name()

std::string Name ( ) const

Returns the name.

Remarks: this should have been called GetName to be inline with the non-const version, however, it is decided that it should be called Name as GetName is being deprecated.

Returns: the name

◆ Reset()

void Reset ( bool _resetChildren )

Reset the transformation to the initial transformation.

Parameters

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

◆ SetHandle()

void SetHandle ( unsigned int _h )

Assign a handle number.

Parameters

[in] _h the handle

◆ SetId()

void SetId ( std::string _id )

Change the id string.

Parameters

[in] _id the new id string

◆ SetInitialTransform()

void SetInitialTransform ( const ignition::math::Matrix4d & _tras )

Sets the initial transformation.

Parameters

[in] _tras the transfromation matrix

◆ SetInverseBindTransform()

void SetInverseBindTransform ( const ignition::math::Matrix4d & _invBM )

Assign the inverse of the bind pose skeletal transform.

Parameters

[in] _invBM the transform

◆ SetModelTransform()

void SetModelTransform	(	const ignition::math::Matrix4d &	_trans,
		bool	_updateChildren = `true`
	)

Set the model transformation.

Parameters

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

◆ SetName()

void SetName ( std::string _name )

Change the name.

Parameters

[in] _name the new name

◆ SetParent()

void SetParent ( SkeletonNode * _parent )

Set the parent node.

Parameters

[in] _parent the new parent

◆ SetTransform()

void SetTransform	(	const ignition::math::Matrix4d &	_trans,
		bool	_updateChildren = `true`
	)

Set a transformation.

Parameters

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

◆ SetType()

void SetType ( SkeletonNodeType _type )

Change the skeleton node type.

Parameters

[in] _type the new type

◆ Transform()

ignition::math::Matrix4d Transform ( )

Get transform relative to parent.

Returns: Transform relative to parent

◆ UpdateChildrenTransforms()

void UpdateChildrenTransforms ( )

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

Member Data Documentation

◆ children

std::vector<SkeletonNode*> children

protected

the children nodes

◆ handle

unsigned int handle

protected

handle index number

◆ id

std::string id

protected

a string identifier

◆ initialTransform

ignition::math::Matrix4d initialTransform

protected

the initial transformation

◆ invBindTransform

ignition::math::Matrix4d invBindTransform

protected

the inverse of the bind pose skeletal transform

◆ modelTransform

ignition::math::Matrix4d modelTransform

protected

the model transformation

◆ name

std::string name

protected

the name of the skeletal node

◆ parent

SkeletonNode* parent

protected

the parent node

◆ rawTransforms

std::vector<NodeTransform> rawTransforms

protected

the raw transformation

◆ transform

ignition::math::Matrix4d transform

protected

the transform

◆ type

SkeletonNodeType 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

◆ SkeletonNodeType

Constructor & Destructor Documentation

◆ SkeletonNode() [1/2]

◆ SkeletonNode() [2/2]

◆ ~SkeletonNode()

Member Function Documentation

◆ AddChild()

◆ AddRawTransform()

◆ GetChild()

◆ GetChildById()

◆ GetChildByName()

◆ GetChildCount()

◆ GetHandle()

◆ GetId()

◆ GetName()

◆ GetNumRawTrans()

◆ GetParent()

◆ GetRawTransform()

◆ GetRawTransforms()

◆ GetTransforms()

◆ HasInvBindTransform()

◆ InverseBindTransform()

◆ IsJoint()

◆ IsRootNode()

◆ ModelTransform()

◆ Name()

◆ Reset()

◆ SetHandle()

◆ SetId()

◆ SetInitialTransform()

◆ SetInverseBindTransform()

◆ SetModelTransform()

◆ SetName()

◆ SetParent()

◆ SetTransform()

◆ SetType()

◆ Transform()

◆ UpdateChildrenTransforms()

Member Data Documentation

◆ children

◆ handle

◆ id

◆ initialTransform

◆ invBindTransform

◆ modelTransform

◆ name

◆ parent

◆ rawTransforms

◆ transform

◆ type