SkeletonAnimation.hh

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/*
 * Copyright (C) 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 IGNITION_COMMON_SKELETONANIMATION_HH_
#define IGNITION_COMMON_SKELETONANIMATION_HH_
 
#include <map>
#include <utility>
#include <string>
 
#include <ignition/math/Matrix4.hh>
#include <ignition/math/Pose3.hh>
 
#include <ignition/common/NodeAnimation.hh>
#include <ignition/common/graphics/Export.hh>
 
namespace ignition
{
  namespace common
  {
    class SkeletonAnimationPrivate;
 
    class IGNITION_COMMON_GRAPHICS_VISIBLE SkeletonAnimation
    {
      public: explicit SkeletonAnimation(const std::string &_name);
 
      public: ~SkeletonAnimation();
 
      // NOTE: this is not needed starting in ign-common4 since ign-common4 uses
      // the IGN_UTILS_IMPL_PTR instead of a raw impl pointer. So, this
      // method should not be included in forward ports from ign-common3 to
      // ign-common4
      public: SkeletonAnimation &operator=(const SkeletonAnimation &_other);
 
      public: void SetName(const std::string& _name);
 
      public: std::string Name() const;
 
      public: unsigned int NodeCount() const;
 
      public: NodeAnimation *NodeAnimationByName(const std::string &_name)
          const;
 
      public: bool HasNode(const std::string &_node) const;
 
      public: void AddKeyFrame(const std::string &_node, const double _time,
                      const math::Matrix4d &_mat);
 
      public: void AddKeyFrame(const std::string &_node, const double _time,
                      const math::Pose3d &_pose);
 
      public: math::Matrix4d NodePoseAt(const std::string &_node,
                      const double _time, const bool _loop = true) const;
 
      public: std::map<std::string, math::Matrix4d> PoseAt(
                  const double _time, const bool _loop = true) const;
 
      public: std::map<std::string, math::Matrix4d> PoseAtX(const double _x,
                      const std::string &_node, const bool _loop = true) const;
 
      public: void Scale(const double _scale);
 
      public: double Length() const;
 
      private: SkeletonAnimationPrivate *data;
    };
  }
}
#endif