gazebo::common::NodeAnimation Class Reference

Node animation. More...

#include <common/common.hh>

Public Member Functions
	NodeAnimation (const std::string &_name)
	constructor
	~NodeAnimation ()
	Destructor. It empties the key frames list.
void	AddKeyFrame (const double _time, const math::Matrix4 _trans)
	Adds a key frame at a specific time.
void	AddKeyFrame (const double _time, const math::Pose _pose)
	Adds a key fram at a specific time.
math::Matrix4	GetFrameAt (double _time, bool _loop=true) const
	Returns a frame transformation at a specific time if a node does not exist at that time (with tolerance of 1e-6 sec), the transformation is interpolated.
unsigned int	GetFrameCount () const
	Returns the number of key frames.
void	GetKeyFrame (const unsigned int _i, double &_time, math::Matrix4 &_trans) const
	Finds a key frame using the index.
std::pair< double, math::Matrix4 >	GetKeyFrame (const unsigned int _i) const
	Returns a key frame using the index.
double	GetLength () const
	Returns the duration of the animations.
std::string	GetName () const
	Returns the name.
double	GetTimeAtX (const double _x) const
	Returns the time where a transformation's translational value along the X axis is equal to _x.
void	Scale (const double _scale)
	Scales each transformation in the key frames.
void	SetName (const std::string &_name)
	Changes the name of the animation.

Protected Attributes
std::map< double, math::Matrix4 >	keyFrames
	the dictionary of key frames, indexed by time
double	length
	the duration of the animations (time of last key frame)
std::string	name
	the name of the animation

Detailed Description

Node animation.

Constructor & Destructor Documentation

gazebo::common::NodeAnimation::NodeAnimation

(

const std::string &

_name

)

constructor

Parameters

[in]

_name

the name of the node

gazebo::common::NodeAnimation::~NodeAnimation

(

)

Destructor. It empties the key frames list.

Member Function Documentation

void gazebo::common::NodeAnimation::AddKeyFrame	(	const double	_time,
		const math::Matrix4	_trans
	)

Adds a key frame at a specific time.

Parameters

[in]	_time	the time of the key frame
[in]	_trans	the transformation

void gazebo::common::NodeAnimation::AddKeyFrame	(	const double	_time,
		const math::Pose	_pose
	)

Adds a key fram at a specific time.

Parameters

[in]	_time	the tiem of the key frame
[in]	_pose	the pose

math::Matrix4 gazebo::common::NodeAnimation::GetFrameAt	(	double	_time,
		bool	_loop = true
	)		const

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

unsigned int gazebo::common::NodeAnimation::GetFrameCount

(

)

const

Returns the number of key frames.

Returns

the count

void gazebo::common::NodeAnimation::GetKeyFrame	(	const unsigned int	_i,
		double &	_time,
		math::Matrix4 &	_trans
	)		const

Finds a key frame using the index.

Note the index of a key frame can change as frames are added.

Parameters

[in]	_i	the index
[out]	_time	the time of the frame, or -1 if the index id is out of bounds
[out]	_trans	the transformation for this key frame

std::pair<double, math::Matrix4> gazebo::common::NodeAnimation::GetKeyFrame

(

const unsigned int

_i

)

const

Returns a key frame using the index.

Note the index of a key frame can change as frames are added.

Parameters

[in]

_i

the index

Returns

a pair that contains the time and transformation. Time is -1 if the index is out of bounds

double gazebo::common::NodeAnimation::GetLength

(

)

const

Returns the duration of the animations.

Returns

the time of the last animation

std::string gazebo::common::NodeAnimation::GetName

(

)

const

Returns the name.

Returns

the name

double gazebo::common::NodeAnimation::GetTimeAtX

(

const double

_x

)

const

Returns the time where a transformation's translational value along the X axis is equal to _x.

When no transformation is found (within a tolerance of 1e-6), the time is interpolated.

Parameters

[in]

_x

the value along x. You must ensure that _x is within a valid range.

void gazebo::common::NodeAnimation::Scale

(

const double

_scale

)

Scales each transformation in the key frames.

This only affects the translational values.

Parameters

[in]

_scale

the scaling factor

void gazebo::common::NodeAnimation::SetName

(

const std::string &

_name

)

Changes the name of the animation.

Parameters

[in]

the

new name

Member Data Documentation

std::map<double, math::Matrix4> gazebo::common::NodeAnimation::keyFrames

protected

the dictionary of key frames, indexed by time

double gazebo::common::NodeAnimation::length

protected

the duration of the animations (time of last key frame)

std::string gazebo::common::NodeAnimation::name

protected

the name of the animation

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

• SkeletonAnimation.hh