Animation.hh

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/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _ANIMATION_HH_
#define _ANIMATION_HH_

#include <string>
#include <vector>
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {
    class Spline;
    class RotationSpline;
  }


  namespace common
  {
    class KeyFrame;
    class PoseKeyFrame;
    class NumericKeyFrame;


    class GAZEBO_VISIBLE Animation
    {
      public: Animation(const std::string &_name, double _length, bool _loop);

      public: virtual ~Animation();

      public: double GetLength() const;

      public: void SetLength(double _len);

      public: void SetTime(double _time);

      public: void AddTime(double _time);

      public: double GetTime() const;

      public: unsigned int GetKeyFrameCount() const;

      public: KeyFrame* GetKeyFrame(unsigned int _index) const;

      protected: double GetKeyFramesAtTime(double _time, KeyFrame **_kf1,
                                           KeyFrame **_kf2,
                                           unsigned int &_firstKeyIndex) const;


      protected: std::string name;

      protected: double length;

      protected: double timePos;

      protected: mutable bool build;

      protected: bool loop;

      protected: typedef std::vector<KeyFrame*> KeyFrame_V;

      protected: KeyFrame_V keyFrames;
    };


    class GAZEBO_VISIBLE PoseAnimation : public Animation
    {
      public: PoseAnimation(const std::string &_name,
                            double _length, bool _loop);

      public: virtual ~PoseAnimation();

      public: PoseKeyFrame *CreateKeyFrame(double _time);

      public: void GetInterpolatedKeyFrame(PoseKeyFrame &_kf) const;

      protected: void GetInterpolatedKeyFrame(double _time,
                                              PoseKeyFrame &_kf) const;

      protected: void BuildInterpolationSplines() const;

      private: mutable math::Spline *positionSpline;

      private: mutable math::RotationSpline *rotationSpline;
    };


    class GAZEBO_VISIBLE NumericAnimation : public Animation
    {
      public: NumericAnimation(const std::string &_name,
                               double _length, bool _loop);

      public: virtual ~NumericAnimation();

      public: NumericKeyFrame *CreateKeyFrame(double _time);

      public: void GetInterpolatedKeyFrame(NumericKeyFrame &_kf) const;
    };
  }
}

#endif