SkeletonAnimation.hh

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/*
 * Copyright (C) 2012-2016 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 _GAZEBO_SKELETONANIMATION_HH_
#define _GAZEBO_SKELETONANIMATION_HH_

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

#include <ignition/math/Matrix4.hh>
#include <ignition/math/Pose3.hh>

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

namespace gazebo
{
  namespace common
  {

    class GZ_COMMON_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 ignition::math::Matrix4d &_trans);

      public: void AddKeyFrame(const double _time,
                  const ignition::math::Pose3d &_pose);

      public: unsigned int GetFrameCount() const;

      public: void GetKeyFrame(const unsigned int _i, double &_time,
                  ignition::math::Matrix4d &_trans) const;

      public: std::pair<double, ignition::math::Matrix4d> KeyFrame(
                      const unsigned int _i) const;

      public: double GetLength() const;

      public: ignition::math::Matrix4d FrameAt(
                  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, ignition::math::Matrix4d> keyFrames;

      protected: double length;
    };

    class GZ_COMMON_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 ignition::math::Matrix4d &_mat);

      public: void AddKeyFrame(const std::string &_node, const double _time,
                      const ignition::math::Pose3d &_pose);

      public: ignition::math::Matrix4d NodePoseAt(const std::string &_node,
                      const double _time, const bool _loop = true);

      public: std::map<std::string, ignition::math::Matrix4d> PoseAt(
                  const double _time, const bool _loop = true) const;

      public: std::map<std::string, ignition::math::Matrix4d> PoseAtX(
                  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