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17 #ifndef GAZEBO_PHYSICS_ACTOR_HH_
18 #define GAZEBO_PHYSICS_ACTOR_HH_
25 #include <ignition/math/Color.hh>
53 public:
unsigned int id;
81 public:
typedef std::map<std::string, common::SkeletonAnimation *>
93 public:
void Load(sdf::ElementPtr _sdf);
99 const std::map<std::string, std::string> &_skelMap);
126 public:
virtual const sdf::ElementPtr
GetSDF();
202 private:
void AddSphereInertia(
const sdf::ElementPtr &_linkSdf,
203 const ignition::math::Pose3d &_pose,
204 const double _mass,
const double _radius);
212 private:
void AddSphereCollision(
const sdf::ElementPtr &_linkSdf,
213 const std::string &_name,
214 const ignition::math::Pose3d &_pose,
215 const double _radius);
223 private:
void AddBoxCollision(
const sdf::ElementPtr &_linkSdf,
224 const std::string &_name,
225 const ignition::math::Pose3d &_pose,
226 const ignition::math::Vector3d &_size);
235 private:
void AddSphereVisual(
const sdf::ElementPtr &_linkSdf,
236 const std::string &_name,
237 const ignition::math::Pose3d &_pose,
const double _radius,
238 const std::string &_material,
239 const ignition::math::Color &_ambient);
248 private:
void AddBoxVisual(
const sdf::ElementPtr &_linkSdf,
249 const std::string &_name,
250 const ignition::math::Pose3d &_pose,
251 const ignition::math::Vector3d &_size,
252 const std::string &_material,
253 const ignition::math::Color &_ambient);
259 private:
void AddActorVisual(
const sdf::ElementPtr &_linkSdf,
260 const std::string &_name,
261 const ignition::math::Pose3d &_pose);
267 private:
bool LoadSkin(sdf::ElementPtr _sdf);
274 private:
void LoadAnimation(sdf::ElementPtr _sdf);
278 private:
void LoadScript(sdf::ElementPtr _sdf);
285 private:
void SetPose(
286 std::map<std::string, ignition::math::Matrix4d> _frame,
287 std::map<std::string, std::string> _skelMap,
331 protected: std::map<unsigned int, common::PoseAnimation *>
trajectories;
353 protected: std::map<std::string, std::map<std::string, std::string> >
383 private:
double scriptTime;
390 private: std::unique_ptr<ActorPrivate> dataPtr;
unsigned int lastTraj
Id of the last trajectory.
Definition: Actor.hh:370
double startTime
Start time of this keyframe within the trajectory, in seconds.
Definition: Actor.hh:63
std::vector< TrajectoryInfo > trajInfo
A vector of trajectory information, which contains information such as their durations,...
Definition: Actor.hh:337
void Reset() override
Reset the model.
virtual void SetWindMode(const bool _enabled)
Override set wind mode method to make it impossible to set it to true for actors.
virtual void Fini()
Finalize the actor.
Forward declarations for the common classes.
Definition: Animation.hh:27
double scriptLength
Total time length of the script, in seconds.
Definition: Actor.hh:307
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:48
std::map< std::string, std::map< std::string, std::string > > skelNodesMap
Skeleton to node map:
Definition: Actor.hh:354
void SetScriptTime(const double _time)
Set the current script time.
common::Skeleton * skeleton
The actor's skeleton.
Definition: Actor.hh:294
ignition::math::Vector3d lastPos
Last position of the actor.
Definition: Actor.hh:364
std::string visualName
Name of the visual representing the skin.
Definition: Actor.hh:373
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
const common::Mesh * mesh
Pointer to the actor's mesh.
Definition: Actor.hh:291
common
Definition: FuelModelDatabase.hh:37
virtual bool GetSelfCollide() const
Get whether the links in the actor can collide with each other.
TrajectoryInfoPtr CustomTrajectory() const
Get the custom trajectory.
const SkeletonAnimation_M & SkeletonAnimations() const
Returns a dictionary of all the skeleton animations associated with the actor.
const common::Mesh * Mesh() const
Returns the actor's mesh.
virtual void Stop()
Stop playing the script.
uint32_t visualId
ID for the visual representing the skin.
Definition: Actor.hh:376
unsigned int id
ID of the trajectory.
Definition: Actor.hh:53
void SetCustomTrajectory(TrajectoryInfoPtr &_trajInfo)
Set a custom trajectory for the actor, using one of the existing animations.
virtual void Play()
Start playing the script.
double endTime
End time of this keyframe within the trajectory, in seconds.
Definition: Actor.hh:66
double pathLength
Length of the actor's path.
Definition: Actor.hh:367
double duration
Duration of this keyframe in seconds.
Definition: Actor.hh:60
SkeletonAnimation_M skelAnimation
Map of skeleton animations, indexed by their names.
Definition: Actor.hh:343
TrajectoryInfo()
Constructor.
A skeleton.
Definition: Skeleton.hh:53
double ScriptTime() const
Get the current script time.
virtual ~Actor()
Destructor.
void Update()
Update the actor.
LinkPtr mainLink
Pointer to the actor's canonical link.
Definition: Actor.hh:320
std::string skinFile
Filename for the skin.
Definition: Actor.hh:297
void Load(sdf::ElementPtr _sdf)
Load the actor.
double skinScale
Scaling factor to apply to the skin.
Definition: Actor.hh:300
virtual void SetSelfCollide(bool _selfCollide)
Override set self collide method to make it impossible to set it to true for actors.
bool autoStart
True if the actor should start running automatically, otherwise it will only start once Play is calle...
Definition: Actor.hh:317
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition: PhysicsTypes.hh:102
A model is a collection of links, joints, and plugins.
Definition: Model.hh:60
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
Information about a trajectory for an Actor.
Definition: Actor.hh:48
common::Time prevFrameTime
Time of the previous frame.
Definition: Actor.hh:323
virtual bool IsActive() const
Returns true when actor is playing animation.
virtual bool WindMode() const
Get whether the links in the actor are affected by wind.
common::Time playStartTime
Time when the animation was started.
Definition: Actor.hh:326
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
double startDelay
Time to wait before starting the script.
Definition: Actor.hh:304
Actor(BasePtr _parent)
Constructor.
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the actor.
A 3D mesh.
Definition: Mesh.hh:43
bool translated
True if the trajectory is translated.
Definition: Actor.hh:69
void Reset()
Reset the actor.
std::string type
Type of trajectory.
Definition: Actor.hh:57
std::map< std::string, common::SkeletonAnimation * > SkeletonAnimation_M
Typedef the skeleton animation map, indexed by their names.
Definition: Actor.hh:82
bool active
True if the actor is being updated.
Definition: Actor.hh:313
void ResetCustomTrajectory()
Reset custom trajectory of the actor.
void AlignBvh(common::Skeleton *_skel, const std::map< std::string, std::string > &_skelMap)
Align BVH to DAE skin.
bool loop
True if the animation should loop.
Definition: Actor.hh:310
Actor class enables GPU based mesh model / skeleton scriptable animation.
Definition: Actor.hh:79
std::map< unsigned int, common::PoseAnimation * > trajectories
Map of all the trajectories (pose animations) and their indices.
Definition: Actor.hh:331
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:361
transport::PublisherPtr bonePosePub
Publisher to send bone info.
Definition: Actor.hh:379
virtual void Init()
Initialize the actor.