Actor.hh
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2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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13  * See the License for the specific language governing permissions and
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17 #ifndef _ACTOR_HH_
18 #define _ACTOR_HH_
19 
20 #include <string>
21 #include <map>
22 #include <vector>
23 
24 #include "gazebo/physics/Model.hh"
25 #include "gazebo/common/Time.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace common
33  {
34  class Mesh;
35  class Color;
36  }
37 
38  namespace physics
39  {
42  {
44  public: TrajectoryInfo();
45 
47  public: unsigned int id;
48 
50  public: std::string type;
51 
53  public: double duration;
54 
56  public: double startTime;
57 
59  public: double endTime;
60 
62  public: bool translated;
63  };
64 
67 
72  {
75  public: explicit Actor(BasePtr _parent);
76 
78  public: virtual ~Actor();
79 
82  public: void Load(sdf::ElementPtr _sdf);
83 
85  public: virtual void Init();
86 
88  public: virtual void Play();
89 
91  public: virtual void Stop();
92 
94  public: virtual bool IsActive();
95 
97  public: void Update();
98 
100  public: virtual void Fini();
101 
104  public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
105 
108  public: virtual const sdf::ElementPtr GetSDF();
109 
115  private: void AddSphereInertia(const sdf::ElementPtr &_linkSdf,
116  const ignition::math::Pose3d &_pose,
117  const double _mass, const double _radius);
118 
124  private: void AddSphereCollision(const sdf::ElementPtr &_linkSdf,
125  const std::string &_name,
126  const ignition::math::Pose3d &_pose,
127  const double _radius);
128 
136  private: void AddSphereVisual(const sdf::ElementPtr &_linkSdf,
137  const std::string &_name,
138  const ignition::math::Pose3d &_pose, const double _radius,
139  const std::string &_material, const common::Color &_ambient);
140 
148  private: void AddBoxVisual(const sdf::ElementPtr &_linkSdf,
149  const std::string &_name,
150  const ignition::math::Pose3d &_pose,
151  const ignition::math::Vector3d &_size,
152  const std::string &_material,
153  const common::Color &_ambient);
154 
159  private: void AddActorVisual(const sdf::ElementPtr &_linkSdf,
160  const std::string &_name,
161  const ignition::math::Pose3d &_pose);
162 
165  private: void LoadAnimation(sdf::ElementPtr _sdf);
166 
169  private: void LoadScript(sdf::ElementPtr _sdf);
170 
175  private: void SetPose(
176  std::map<std::string, ignition::math::Matrix4d> _frame,
177  std::map<std::string, std::string> _skelMap, double _time);
178 
180  protected: const common::Mesh *mesh;
181 
184 
186  protected: std::string skinFile;
187 
189  protected: double skinScale;
190 
192  protected: double startDelay;
193 
195  protected: double scriptLength;
196 
198  protected: double lastScriptTime;
199 
201  protected: bool loop;
202 
204  protected: bool active;
205 
207  protected: bool autoStart;
208 
210  protected: LinkPtr mainLink;
211 
214 
217 
219  protected: std::map<unsigned int, common::PoseAnimation*> trajectories;
220 
222  protected: std::vector<TrajectoryInfo> trajInfo;
223 
225  protected: std::map<std::string, common::SkeletonAnimation*>
227 
229  protected: std::map<std::string, std::map<std::string, std::string> >
231 
233  protected: std::map<std::string, bool> interpolateX;
234 
236  protected: ignition::math::Vector3d lastPos;
237 
239  protected: double pathLength;
240 
242  protected: unsigned int lastTraj;
243 
245  protected: std::string visualName;
246 
248  protected: uint32_t visualId;
249 
252 
254  protected: std::string oldAction;
255  };
257  }
258 }
259 #endif
A 3D mesh.
Definition: Mesh.hh:44
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
bool autoStart
True if the actor should start running automatically.
Definition: Actor.hh:207
double endTime
End time of the trajectory.
Definition: Actor.hh:59
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
A skeleton.
Definition: Skeleton.hh:53
LinkPtr mainLink
Base link.
Definition: Actor.hh:210
std::string oldAction
THe old action.
Definition: Actor.hh:254
double pathLength
Length of the actor's path.
Definition: Actor.hh:239
ignition::math::Vector3d lastPos
Last position of the actor.
Definition: Actor.hh:236
unsigned int id
ID of the trajectory.
Definition: Actor.hh:47
std::map< std::string, common::SkeletonAnimation * > skelAnimation
Skeleton animations.
Definition: Actor.hh:226
double skinScale
Scaling factor to apply to the skin.
Definition: Actor.hh:189
Actor class enables GPU based mesh model / skeleton scriptable animation.
Definition: Actor.hh:71
const common::Mesh * mesh
Pointer to the actor's mesh.
Definition: Actor.hh:180
double lastScriptTime
Time the scipt was last updated.
Definition: Actor.hh:198
common::Skeleton * skeleton
The actor's skeleton.
Definition: Actor.hh:183
A model is a collection of links, joints, and plugins.
Definition: Model.hh:53
uint32_t visualId
ID for this visual.
Definition: Actor.hh:248
std::string visualName
Name of the visual.
Definition: Actor.hh:245
bool active
True if the actor is being updated.
Definition: Actor.hh:204
Information about a trajectory for an Actor.
Definition: Actor.hh:41
double startTime
Start time of the trajectory.
Definition: Actor.hh:56
std::string type
Type of trajectory.
Definition: Actor.hh:50
double scriptLength
Time length of a scipt.
Definition: Actor.hh:195
bool translated
True if the trajectory is tranlated.
Definition: Actor.hh:62
unsigned int lastTraj
THe last trajectory.
Definition: Actor.hh:242
double duration
Duration of the trajectory.
Definition: Actor.hh:53
Defines a color.
Definition: Color.hh:36
bool loop
True if the animation should loop.
Definition: Actor.hh:201
std::vector< TrajectoryInfo > trajInfo
Trajectory information.
Definition: Actor.hh:222
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
std::map< std::string, bool > interpolateX
True to interpolate along x direction.
Definition: Actor.hh:233
std::map< unsigned int, common::PoseAnimation * > trajectories
All the trajectories.
Definition: Actor.hh:219
std::map< std::string, std::map< std::string, std::string > > skelNodesMap
Skeleton to naode map.
Definition: Actor.hh:230
transport::PublisherPtr bonePosePub
Where to send bone info.
Definition: Actor.hh:251
common::Time playStartTime
Time when the animation was started.
Definition: Actor.hh:216
std::string skinFile
Filename for the skin.
Definition: Actor.hh:186
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
common::Time prevFrameTime
Time of the previous frame.
Definition: Actor.hh:213
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:100
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44
double startDelay
Amount of time to delay start by.
Definition: Actor.hh:192