SkeletonAnimation.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 _SKELETONANIMATION_HH_
#define _SKELETONANIMATION_HH_

#include <map>
#include <utility>
#include <string>

#include "gazebo/math/Matrix4.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {

    class GAZEBO_VISIBLE NodeAnimation
    {
      public: NodeAnimation(const std::string& _name);

      public: ~NodeAnimation();

      public: void SetName(const std::string& _name);

      public: std::string GetName() const;

      public: void AddKeyFrame(const double _time, const math::Matrix4 &_trans);

      public: void AddKeyFrame(const double _time, const math::Pose &_pose);

      public: unsigned int GetFrameCount() const;

      public: void GetKeyFrame(const unsigned int _i, double& _time,
                      math::Matrix4& _trans) const;

      public: std::pair<double, math::Matrix4> GetKeyFrame(
                      const unsigned int _i) const;

      public: double GetLength() const;

      public: math::Matrix4 GetFrameAt(double _time, bool _loop = true) const;

      public: void Scale(const double _scale);

      public: double GetTimeAtX(const double _x) const;

      protected: std::string name;

      protected: std::map<double, math::Matrix4> keyFrames;

      protected: double length;
    };

    class GAZEBO_VISIBLE SkeletonAnimation
    {
      public: SkeletonAnimation(const std::string& _name);

      public: ~SkeletonAnimation();

      public: void SetName(const std::string& _name);

      public: std::string GetName() const;

      public: unsigned int GetNodeCount() const;

      public: bool HasNode(const std::string& _node) const;

      public: void AddKeyFrame(const std::string& _node, const double _time,
                      const math::Matrix4 &_mat);

      public: void AddKeyFrame(const std::string& _node, const double _time,
                      const math::Pose &_pose);

      public: math::Matrix4 GetNodePoseAt(const std::string& _node,
                      const double _time, const bool _loop = true);

      public: std::map<std::string, math::Matrix4> GetPoseAt(const double _time,
                      const bool _loop = true) const;

      public: std::map<std::string, math::Matrix4> GetPoseAtX(const double _x,
                      const std::string& _node, const bool _loop = true) const;

      public: void Scale(const double _scale);

      public: double GetLength() const;

      protected: std::string name;

      protected: double length;

      protected: std::map<std::string, NodeAnimation*> animations;
    };
  }
}

#endif