gazebo::common::SkeletonAnimation Class Reference

Skeleton animation. More...

#include <SkeletonAnimation.hh>

Public Member Functions
	SkeletonAnimation (const std::string &_name)
	The Constructor. More...
	~SkeletonAnimation ()
	The destructor. More...
void	AddKeyFrame (const std::string &_node, const double _time, const ignition::math::Matrix4d &_mat)
	Adds or replaces a named key frame at a specific time. More...
void	AddKeyFrame (const std::string &_node, const double _time, const ignition::math::Pose3d &_pose)
	Adds or replaces a named key frame at a specific time. More...
double	GetLength () const
	Returns the duration of the animations. More...
std::string	GetName () const
	Returns the name. More...
unsigned int	GetNodeCount () const
	Returns the number of animation nodes. More...
bool	HasNode (const std::string &_node) const
	Looks for a node with a specific name in the animations. More...
ignition::math::Matrix4d	NodePoseAt (const std::string &_node, const double _time, const bool _loop=true)
	Returns the key frame transformation for a named animation at a specific time if a node does not exist at that time (with tolerance of 1e-6 sec), the transformation is interpolated. More...
std::map< std::string, ignition::math::Matrix4d >	PoseAt (const double _time, const bool _loop=true) const
	Returns a dictionary of transformations indexed by name at a specific time if a node does not exist at that specific time (with tolerance of 1e-6 sec), the transformation is interpolated. More...
std::map< std::string, ignition::math::Matrix4d >	PoseAtX (const double _x, const std::string &_node, const bool _loop=true) const
	Returns a dictionary of transformations indexed by name where a named node transformation's translational value along the X axis is equal to _x. More...
void	Scale (const double _scale)
	Scales every animation in the animations list. More...
void	SetName (const std::string &_name)
	Changes the name. More...

Protected Attributes
std::map< std::string, NodeAnimation * >	animations
	a dictionary of node animations More...
double	length
	the duration of the longest animation More...
std::string	name
	the node name More...

Detailed Description

Skeleton animation.

Constructor & Destructor Documentation

gazebo::common::SkeletonAnimation::SkeletonAnimation

(

const std::string &

_name

)

The Constructor.

Parameters

[in]

_name

the name of the animation

gazebo::common::SkeletonAnimation::~SkeletonAnimation

(

)

The destructor.

Clears the list without destroying the animations

Member Function Documentation

void gazebo::common::SkeletonAnimation::AddKeyFrame	(	const std::string &	_node,
		const double	_time,
		const ignition::math::Matrix4d &	_mat
	)

Adds or replaces a named key frame at a specific time.

Parameters

[in]	_node	the name of the new or existing node
[in]	_time	the time
[in]	_mat	the key frame transformation

void gazebo::common::SkeletonAnimation::AddKeyFrame	(	const std::string &	_node,
		const double	_time,
		const ignition::math::Pose3d &	_pose
	)

Adds or replaces a named key frame at a specific time.

Parameters

[in]	_node	the name of the new or existing node
[in]	_time	the time
[in]	_pose	the key frame transformation as a ignition::math::Pose3d

double gazebo::common::SkeletonAnimation::GetLength

(

)

const

Returns the duration of the animations.

Returns

the duration in seconds

std::string gazebo::common::SkeletonAnimation::GetName

(

)

const

Returns the name.

Returns

the name

unsigned int gazebo::common::SkeletonAnimation::GetNodeCount

(

)

const

Returns the number of animation nodes.

Returns

the count

bool gazebo::common::SkeletonAnimation::HasNode

(

const std::string &

_node

)

const

Looks for a node with a specific name in the animations.

Parameters

[in]

_node

the name of the node

Returns

true if the node exits

ignition::math::Matrix4d gazebo::common::SkeletonAnimation::NodePoseAt	(	const std::string &	_node,
		const double	_time,
		const bool	_loop = true
	)

Returns the key frame transformation for a named animation at a specific time if a node does not exist at that time (with tolerance of 1e-6 sec), the transformation is interpolated.

Parameters

[in]	_node	the name of the animation node
[in]	_time	the time
[in]	_loop	when true, the time is divided by the duration (see GetLength)

Returns

the transformation

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

Returns a dictionary of transformations indexed by name at a specific time if a node does not exist at that specific time (with tolerance of 1e-6 sec), the transformation is interpolated.

Parameters

[in]	_time	the time
[in]	_loop	when true, the time is divided by the duration (see GetLength)

Returns

the transformation for every node

std::map<std::string, ignition::math::Matrix4d> gazebo::common::SkeletonAnimation::PoseAtX	(	const double	_x,
		const std::string &	_node,
		const bool	_loop = true
	)		const

Returns a dictionary of transformations indexed by name where a named node transformation's translational value along the X axis is equal to _x.

Parameters

[in]	_x	the value along x. You must ensure that _x is within a valid range.
[in]	_node	the name of the animation node
[in]	_loop	when true, the time is divided by the duration (see GetLength)

void gazebo::common::SkeletonAnimation::Scale

(

const double

_scale

)

Scales every animation in the animations list.

Parameters

[in]

_scale

the scaling factor

void gazebo::common::SkeletonAnimation::SetName

(

const std::string &

_name

)

Changes the name.

Parameters

[in]

_name

the new name

Member Data Documentation

std::map<std::string, NodeAnimation*> gazebo::common::SkeletonAnimation::animations

protected

a dictionary of node animations

double gazebo::common::SkeletonAnimation::length

protected

the duration of the longest animation

std::string gazebo::common::SkeletonAnimation::name

protected

the node name

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The documentation for this class was generated from the following file:

• SkeletonAnimation.hh