Node animation. More...

#include <common/common.hh>

Public Member Functions
	NodeAnimation (const std::string &_name)
	constructor More...

	~NodeAnimation ()
	Destructor. It empties the key frames list. More...

void	AddKeyFrame (const double _time, const math::Matrix4 &_trans) GAZEBO_DEPRECATED(6.0)
	Adds a key frame at a specific time. More...

void	AddKeyFrame (const double _time, const ignition::math::Matrix4d &_trans)
	Adds a key frame at a specific time. More...

void	AddKeyFrame (const double _time, const math::Pose &_pose) GAZEBO_DEPRECATED(6.0)
	Adds a key frame at a specific time. More...

void	AddKeyFrame (const double _time, const ignition::math::Pose3d &_pose)
	Adds a key frame at a specific time. More...

ignition::math::Matrix4d	FrameAt (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. More...

math::Matrix4	GetFrameAt (double _time, bool _loop=true) const GAZEBO_DEPRECATED(6.0)
	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. More...

unsigned int	GetFrameCount () const
	Returns the number of key frames. More...

void	GetKeyFrame (const unsigned int _i, double &_time, math::Matrix4 &_trans) const GAZEBO_DEPRECATED(6.0)
	Finds a key frame using the index. More...

void	GetKeyFrame (const unsigned int _i, double &_time, ignition::math::Matrix4d &_trans) const
	Finds a key frame using the index. More...

std::pair< double, math::Matrix4 >	GetKeyFrame (const unsigned int _i) const GAZEBO_DEPRECATED(6.0)
	Returns a key frame using the index. More...

double	GetLength () const
	Returns the duration of the animations. More...

std::string	GetName () const
	Returns the name. More...

double	GetTimeAtX (const double _x) const
	Returns the time where a transformation's translational value along the X axis is equal to _x. More...

std::pair< double, ignition::math::Matrix4d >	KeyFrame (const unsigned int _i) const
	Returns a key frame using the index. More...

void	Scale (const double _scale)
	Scales each transformation in the key frames. More...

void	SetName (const std::string &_name)
	Changes the name of the animation. More...

Protected Attributes
std::map< double, ignition::math::Matrix4d >	keyFrames
	the dictionary of key frames, indexed by time More...

double	length
	the duration of the animations (time of last key frame) More...

std::string	name
	the name of the animation More...

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

Deprecated:: See AddKeyFrame function accepts ignition::math::Matrix4d.

void gazebo::common::NodeAnimation::AddKeyFrame	(	const double	_time,
		const ignition::math::Matrix4d &	_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 frame at a specific time.

Parameters

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

Deprecated:: See AddKeyFrame function that accepts ignition::math::Pose3d

void gazebo::common::NodeAnimation::AddKeyFrame	(	const double	_time,
		const ignition::math::Pose3d &	_pose
	)

Adds a key frame at a specific time.

Parameters

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

ignition::math::Matrix4d gazebo::common::NodeAnimation::FrameAt	(	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)

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)

Deprecated:: See FrameAt function that return ignition::math::Matrix4d.

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

Deprecated:: See GetKeyFrame function that accepts ignition::math::Matrix4d.

void gazebo::common::NodeAnimation::GetKeyFrame	(	const unsigned int	_i,
		double &	_time,
		ignition::math::Matrix4d &	_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

Deprecated:: See KeyFrame function that return ignition::math::Matrix4d.

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.

std::pair<double, ignition::math::Matrix4d> gazebo::common::NodeAnimation::KeyFrame ( 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

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, ignition::math::Matrix4d> 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

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

SkeletonAnimation.hh

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation