Actor.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PHYSICS_ACTOR_HH_
18#define GAZEBO_PHYSICS_ACTOR_HH_
19
20#include <string>
21#include <map>
22#include <memory>
23#include <vector>
24
25#include <ignition/math/Color.hh>
26
28#include "gazebo/common/Time.hh"
30#include "gazebo/util/system.hh"
31
32namespace gazebo
33{
34 namespace common
35 {
36 class Mesh;
37 class Skeleton;
38 }
39
40 namespace physics
41 {
42 class ActorPrivate;
43
46 class GZ_PHYSICS_VISIBLE TrajectoryInfo
47 {
49 public: TrajectoryInfo();
50
52 public: unsigned int id;
53
56 public: std::string type;
57
59 public: double duration;
60
62 public: double startTime;
63
65 public: double endTime;
66
68 public: bool translated;
69 };
70
73
77 class GZ_PHYSICS_VISIBLE Actor : public Model
78 {
80 public: typedef std::map<std::string, common::SkeletonAnimation *>
82
85 public: explicit Actor(BasePtr _parent);
86
88 public: virtual ~Actor();
89
92 public: void Load(sdf::ElementPtr _sdf);
93
95 public: virtual void Init();
96
98 public: virtual void Play();
99
101 public: virtual void Stop();
102
105 public: virtual bool IsActive() const;
106
108 public: void Update();
109
111 public: virtual void Fini();
112
115 public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
116
119 public: virtual const sdf::ElementPtr GetSDF();
120
122 public: void Reset();
123 using Model::Reset;
124
129 public: void SetScriptTime(const double _time);
130
135 public: double ScriptTime() const;
136
141
148 public: void SetCustomTrajectory(TrajectoryInfoPtr &_trajInfo);
149
152 public: const common::Mesh *Mesh() const;
153
159
162 public: void ResetCustomTrajectory();
163
168 public: virtual bool GetSelfCollide() const;
169
175 public: virtual void SetSelfCollide(bool _selfCollide);
176
181 public: virtual bool WindMode() const;
182
188 public: virtual void SetWindMode(const bool _enabled);
189
195 private: void AddSphereInertia(const sdf::ElementPtr &_linkSdf,
196 const ignition::math::Pose3d &_pose,
197 const double _mass, const double _radius);
198
205 private: void AddSphereCollision(const sdf::ElementPtr &_linkSdf,
206 const std::string &_name,
207 const ignition::math::Pose3d &_pose,
208 const double _radius);
209
216 private: void AddBoxCollision(const sdf::ElementPtr &_linkSdf,
217 const std::string &_name,
218 const ignition::math::Pose3d &_pose,
219 const ignition::math::Vector3d &_size);
220
228 private: void AddSphereVisual(const sdf::ElementPtr &_linkSdf,
229 const std::string &_name,
230 const ignition::math::Pose3d &_pose, const double _radius,
231 const std::string &_material,
232 const ignition::math::Color &_ambient);
233
241 private: void AddBoxVisual(const sdf::ElementPtr &_linkSdf,
242 const std::string &_name,
243 const ignition::math::Pose3d &_pose,
244 const ignition::math::Vector3d &_size,
245 const std::string &_material,
246 const ignition::math::Color &_ambient);
247
252 private: void AddActorVisual(const sdf::ElementPtr &_linkSdf,
253 const std::string &_name,
254 const ignition::math::Pose3d &_pose);
255
260 private: bool LoadSkin(sdf::ElementPtr _sdf);
261
267 private: void LoadAnimation(sdf::ElementPtr _sdf);
268
271 private: void LoadScript(sdf::ElementPtr _sdf);
272
278 private: void SetPose(
279 std::map<std::string, ignition::math::Matrix4d> _frame,
280 std::map<std::string, std::string> _skelMap,
281 const double _time);
282
284 protected: const common::Mesh *mesh = nullptr;
285
287 protected: common::Skeleton *skeleton = nullptr;
288
290 protected: std::string skinFile;
291
293 protected: double skinScale;
294
297 protected: double startDelay;
298
300 protected: double scriptLength;
301
303 protected: bool loop;
304
306 protected: bool active;
307
310 protected: bool autoStart;
311
313 protected: LinkPtr mainLink;
314
317
320
324 protected: std::map<unsigned int, common::PoseAnimation *> trajectories;
325
330 protected: std::vector<TrajectoryInfo> trajInfo;
331
337
346 protected: std::map<std::string, std::map<std::string, std::string> >
348
351 // direction.
354 protected: std::map<std::string, bool> interpolateX;
355
357 protected: ignition::math::Vector3d lastPos;
358
360 protected: double pathLength;
361
363 protected: unsigned int lastTraj;
364
366 protected: std::string visualName;
367
369 protected: uint32_t visualId;
370
373
376 private: double scriptTime;
377
380 private: TrajectoryInfoPtr customTrajectoryInfo;
381
383 private: std::unique_ptr<ActorPrivate> dataPtr;
384 };
386 }
387}
388#endif
389
common
Definition FuelModelDatabase.hh:37
A 3D mesh.
Definition Mesh.hh:43
A skeleton.
Definition Skeleton.hh:53
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Actor class enables GPU based mesh model / skeleton scriptable animation.
Definition Actor.hh:78
bool active
True if the actor is being updated.
Definition Actor.hh:306
uint32_t visualId
ID for the visual representing the skin.
Definition Actor.hh:369
double ScriptTime() const
Get the current script time.
void SetCustomTrajectory(TrajectoryInfoPtr &_trajInfo)
Set a custom trajectory for the actor, using one of the existing animations.
const SkeletonAnimation_M & SkeletonAnimations() const
Returns a dictionary of all the skeleton animations associated with the actor.
virtual bool GetSelfCollide() const
Get whether the links in the actor can collide with each other.
const common::Mesh * mesh
Pointer to the actor's mesh.
Definition Actor.hh:284
LinkPtr mainLink
Pointer to the actor's canonical link.
Definition Actor.hh:313
TrajectoryInfoPtr CustomTrajectory() const
Get the custom trajectory.
virtual void Fini()
Finalize the actor.
const common::Mesh * Mesh() const
Returns the actor's mesh.
void Reset()
Reset the actor.
virtual void Init()
Initialize the actor.
bool autoStart
True if the actor should start running automatically, otherwise it will only start once Play is calle...
Definition Actor.hh:310
std::string visualName
Name of the visual representing the skin.
Definition Actor.hh:366
std::map< std::string, std::map< std::string, std::string > > skelNodesMap
Skeleton to node map:
Definition Actor.hh:347
std::map< unsigned int, common::PoseAnimation * > trajectories
Map of all the trajectories (pose animations) and their indices.
Definition Actor.hh:324
common::Time prevFrameTime
Time of the previous frame.
Definition Actor.hh:316
double startDelay
Time to wait before starting the script.
Definition Actor.hh:297
std::string skinFile
Filename for the skin.
Definition Actor.hh:290
void ResetCustomTrajectory()
Reset custom trajectory of the actor.
SkeletonAnimation_M skelAnimation
Map of skeleton animations, indexed by their names.
Definition Actor.hh:336
void SetScriptTime(const double _time)
Set the current script time.
bool loop
True if the animation should loop.
Definition Actor.hh:303
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the actor.
unsigned int lastTraj
Id of the last trajectory.
Definition Actor.hh:363
ignition::math::Vector3d lastPos
Last position of the actor.
Definition Actor.hh:357
common::Skeleton * skeleton
The actor's skeleton.
Definition Actor.hh:287
transport::PublisherPtr bonePosePub
Publisher to send bone info.
Definition Actor.hh:372
virtual bool IsActive() const
Returns true when actor is playing animation.
std::vector< TrajectoryInfo > trajInfo
A vector of trajectory information, which contains information such as their durations,...
Definition Actor.hh:330
virtual void SetSelfCollide(bool _selfCollide)
Override set self collide method to make it impossible to set it to true for actors.
virtual bool WindMode() const
Get whether the links in the actor are affected by wind.
double pathLength
Length of the actor's path.
Definition Actor.hh:360
std::map< std::string, common::SkeletonAnimation * > SkeletonAnimation_M
Typedef the skeleton animation map, indexed by their names.
Definition Actor.hh:81
common::Time playStartTime
Time when the animation was started.
Definition Actor.hh:319
virtual void SetWindMode(const bool _enabled)
Override set wind mode method to make it impossible to set it to true for actors.
double skinScale
Scaling factor to apply to the skin.
Definition Actor.hh:293
void Load(sdf::ElementPtr _sdf)
Load the actor.
virtual void Play()
Start playing the script.
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
double scriptLength
Total time length of the script, in seconds.
Definition Actor.hh:300
std::map< std::string, bool > interpolateX
Map of animation types (the same name as in skelAnimation and skelNodesMap) and whether they should b...
Definition Actor.hh:354
void Update()
Update the actor.
Actor(BasePtr _parent)
Constructor.
virtual void Stop()
Stop playing the script.
virtual ~Actor()
Destructor.
A model is a collection of links, joints, and plugins.
Definition Model.hh:60
void Reset()
Reset the model.
Information about a trajectory for an Actor.
Definition Actor.hh:47
double startTime
Start time of this keyframe within the trajectory, in seconds.
Definition Actor.hh:62
double endTime
End time of this keyframe within the trajectory, in seconds.
Definition Actor.hh:65
std::string type
Type of trajectory.
Definition Actor.hh:56
bool translated
True if the trajectory is translated.
Definition Actor.hh:68
unsigned int id
ID of the trajectory.
Definition Actor.hh:52
double duration
Duration of this keyframe in seconds.
Definition Actor.hh:59
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition PhysicsTypes.hh:101
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27