gazebo::common::Skeleton Class Reference

A skeleton. More...

#include <common/common.hh>

Public Member Functions
	Skeleton ()
	Constructor.
	Skeleton (SkeletonNode *_root)
	Constructor.
virtual	~Skeleton ()
	Destructor.
void	AddAnimation (SkeletonAnimation *_anim)
	Add an animation.
void	AddVertNodeWeight (unsigned int _vertex, std::string _node, double _weight)
	Add a new weight to a node (bone)
SkeletonAnimation *	GetAnimation (const unsigned int _i)
	Find animation.
math::Matrix4	GetBindShapeTransform ()
	Return bind pose skeletal transform.
SkeletonNode *	GetNodeByHandle (unsigned int _handle)
	Find or create node with handle.
SkeletonNode *	GetNodeById (std::string _id)
	Find node by index.
SkeletonNode *	GetNodeByName (std::string _name)
	Find a node.
NodeMap	GetNodes ()
	Get a copy or the node dictionary.
unsigned int	GetNumAnimations ()
	Returns the number of animations.
unsigned int	GetNumJoints ()
	Returns the number of joints.
unsigned int	GetNumNodes ()
	Returns the node count.
unsigned int	GetNumVertNodeWeights (unsigned int _vertex)
	Returns the number of bone weights for a vertex.
SkeletonNode *	GetRootNode ()
	Return the root.
std::pair< std::string, double >	GetVertNodeWeight (unsigned int _v, unsigned int _i)
	Weight of a bone for a vertex.
void	PrintTransforms ()
	Outputs the transforms to std::err stream.
void	Scale (double _scale)
	Scale all nodes, transforms and animation data.
void	SetBindShapeTransform (math::Matrix4 _trans)
	Set the bind pose skeletal transform.
void	SetNumVertAttached (unsigned int _vertices)
	Resizes the raw node weight array.
void	SetRootNode (SkeletonNode *_node)
	Change the root node.

Protected Member Functions
void	BuildNodeMap ()
	Initializes the hande numbers for each node in the map using breadth first traversal.

Protected Attributes
std::vector< SkeletonAnimation * >	anims
	the array of animations
math::Matrix4	bindShapeTransform
	the bind pose skeletal transform
NodeMap	nodes
	The dictionary of nodes, indexed by name.
RawNodeWeights	rawNW
	the node weight table
SkeletonNode *	root
	the root node

Detailed Description

A skeleton.

Constructor & Destructor Documentation

gazebo::common::Skeleton::Skeleton

(

)

Constructor.

gazebo::common::Skeleton::Skeleton

(

SkeletonNode *

_root

)

Constructor.

Parameters

[in]

_root

node

virtual gazebo::common::Skeleton::~Skeleton ( )

virtual

Destructor.

Member Function Documentation

void gazebo::common::Skeleton::AddAnimation

(

SkeletonAnimation *

_anim

)

Add an animation.

The skeleton does not take ownership of the animation

Parameters

[in]

_anim

the animation to add

void gazebo::common::Skeleton::AddVertNodeWeight	(	unsigned int	_vertex,
		std::string	_node,
		double	_weight
	)

Add a new weight to a node (bone)

Parameters

[in]	_vertex	index of the vertex
[in]	_node	name of the bone
[in]	_weight	the new weight (range 0 to 1)

void gazebo::common::Skeleton::BuildNodeMap ( )

protected

Initializes the hande numbers for each node in the map using breadth first traversal.

SkeletonAnimation* gazebo::common::Skeleton::GetAnimation

(

const unsigned int

_i

)

Find animation.

Parameters

[in]

_i

the animation index

Returns

the animation, or NULL if _i is out of bounds

math::Matrix4 gazebo::common::Skeleton::GetBindShapeTransform

(

)

Return bind pose skeletal transform.

Returns

a matrix

SkeletonNode* gazebo::common::Skeleton::GetNodeByHandle

(

unsigned int

_handle

)

Find or create node with handle.

Parameters

[in]

_handle

Returns

the node. A new node is created if it didn't exist

SkeletonNode* gazebo::common::Skeleton::GetNodeById

(

std::string

_id

)

Find node by index.

Parameters

[in]

_id

the index

Returns

the node, or NULL if not found

SkeletonNode* gazebo::common::Skeleton::GetNodeByName

(

std::string

_name

)

Find a node.

Parameters

[in]

_name

the name of the node to look for

Returns

the node, or NULL if not found

NodeMap gazebo::common::Skeleton::GetNodes

(

)

Get a copy or the node dictionary.

unsigned int gazebo::common::Skeleton::GetNumAnimations

(

)

Returns the number of animations.

Returns

the count

unsigned int gazebo::common::Skeleton::GetNumJoints

(

)

Returns the number of joints.

Returns

the count

unsigned int gazebo::common::Skeleton::GetNumNodes

(

)

Returns the node count.

Returns

the count

unsigned int gazebo::common::Skeleton::GetNumVertNodeWeights

(

unsigned int

_vertex

)

Returns the number of bone weights for a vertex.

Parameters

[in]

_vertex

the index of the vertex

Returns

the count

SkeletonNode* gazebo::common::Skeleton::GetRootNode

(

)

Return the root.

Returns

the root

std::pair<std::string, double> gazebo::common::Skeleton::GetVertNodeWeight	(	unsigned int	_v,
		unsigned int	_i
	)

Weight of a bone for a vertex.

Parameters

[in]	_v	the index of the vertex
[in]	_i	the index of the weight for that vertex

Returns

a pair containing the name of the node and the weight

void gazebo::common::Skeleton::PrintTransforms

(

)

Outputs the transforms to std::err stream.

void gazebo::common::Skeleton::Scale

(

double

_scale

)

Scale all nodes, transforms and animation data.

Parameters

[in]

the

scaling factor

void gazebo::common::Skeleton::SetBindShapeTransform

(

math::Matrix4

_trans

)

Set the bind pose skeletal transform.

Parameters

[in]

_trans

the transform

void gazebo::common::Skeleton::SetNumVertAttached

(

unsigned int

_vertices

)

Resizes the raw node weight array.

Parameters

[in]

_vertices

the new size

void gazebo::common::Skeleton::SetRootNode

(

SkeletonNode *

_node

)

Change the root node.

Parameters

[in]

_node

the new node

Member Data Documentation

std::vector<SkeletonAnimation*> gazebo::common::Skeleton::anims

protected

the array of animations

math::Matrix4 gazebo::common::Skeleton::bindShapeTransform

protected

the bind pose skeletal transform

NodeMap gazebo::common::Skeleton::nodes

protected

The dictionary of nodes, indexed by name.

RawNodeWeights gazebo::common::Skeleton::rawNW

protected

the node weight table

SkeletonNode* gazebo::common::Skeleton::root

protected

the root node

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

• Skeleton.hh