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17 #ifndef GAZEBO_PHYSICS_ACTOR_HH_
18 #define GAZEBO_PHYSICS_ACTOR_HH_
24 #include <ignition/math/Color.hh>
49 public:
unsigned int id;
77 public:
typedef std::map<std::string, common::SkeletonAnimation *>
85 public:
virtual ~
Actor();
89 public:
void Load(sdf::ElementPtr _sdf);
92 public:
virtual void Init();
95 public:
virtual void Play();
98 public:
virtual void Stop();
102 public:
virtual bool IsActive()
const;
105 public:
void Update();
108 public:
virtual void Fini();
112 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf);
116 public:
virtual const sdf::ElementPtr GetSDF();
119 public:
void Reset();
126 public:
void SetScriptTime(
const double _time);
132 public:
double ScriptTime()
const;
159 public:
void ResetCustomTrajectory();
165 public:
virtual bool GetSelfCollide()
const;
172 public:
virtual void SetSelfCollide(
bool _selfCollide);
178 public:
virtual bool WindMode()
const;
185 public:
virtual void SetWindMode(
const bool _enabled);
192 private:
void AddSphereInertia(
const sdf::ElementPtr &_linkSdf,
193 const ignition::math::Pose3d &_pose,
194 const double _mass,
const double _radius);
202 private:
void AddSphereCollision(
const sdf::ElementPtr &_linkSdf,
203 const std::string &_name,
204 const ignition::math::Pose3d &_pose,
205 const double _radius);
213 private:
void AddBoxCollision(
const sdf::ElementPtr &_linkSdf,
214 const std::string &_name,
215 const ignition::math::Pose3d &_pose,
216 const ignition::math::Vector3d &_size);
225 private:
void AddSphereVisual(
const sdf::ElementPtr &_linkSdf,
226 const std::string &_name,
227 const ignition::math::Pose3d &_pose,
const double _radius,
228 const std::string &_material,
229 const ignition::math::Color &_ambient);
238 private:
void AddBoxVisual(
const sdf::ElementPtr &_linkSdf,
239 const std::string &_name,
240 const ignition::math::Pose3d &_pose,
241 const ignition::math::Vector3d &_size,
242 const std::string &_material,
243 const ignition::math::Color &_ambient);
249 private:
void AddActorVisual(
const sdf::ElementPtr &_linkSdf,
250 const std::string &_name,
251 const ignition::math::Pose3d &_pose);
257 private:
bool LoadSkin(sdf::ElementPtr _sdf);
264 private:
void LoadAnimation(sdf::ElementPtr _sdf);
268 private:
void LoadScript(sdf::ElementPtr _sdf);
275 private:
void SetPose(
276 std::map<std::string, ignition::math::Matrix4d> _frame,
277 std::map<std::string, std::string> _skelMap,
321 protected: std::map<unsigned int, common::PoseAnimation *>
trajectories;
343 protected: std::map<std::string, std::map<std::string, std::string> >
373 private:
double scriptTime;
unsigned int lastTraj
Id of the last trajectory.
Definition: Actor.hh:360
double startTime
Start time of this keyframe within the trajectory, in seconds.
Definition: Actor.hh:59
std::vector< TrajectoryInfo > trajInfo
A vector of trajectory information, which contains information such as their durations,...
Definition: Actor.hh:327
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:26
double scriptLength
Total time length of the script, in seconds.
Definition: Actor.hh:297
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:47
std::map< std::string, std::map< std::string, std::string > > skelNodesMap
Skeleton to node map:
Definition: Actor.hh:344
void SetScriptTime(const double _time)
Set the current script time.
common::Skeleton * skeleton
The actor's skeleton.
Definition: Actor.hh:284
ignition::math::Vector3d lastPos
Last position of the actor.
Definition: Actor.hh:354
std::string visualName
Name of the visual representing the skin.
Definition: Actor.hh:363
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
const common::Mesh * mesh
Pointer to the actor's mesh.
Definition: Actor.hh:281
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:366
unsigned int id
ID of the trajectory.
Definition: Actor.hh:49
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:62
double pathLength
Length of the actor's path.
Definition: Actor.hh:357
double duration
Duration of this keyframe in seconds.
Definition: Actor.hh:56
SkeletonAnimation_M skelAnimation
Map of skeleton animations, indexed by their names.
Definition: Actor.hh:333
TrajectoryInfo()
Constructor.
A skeleton.
Definition: Skeleton.hh:52
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:310
void Reset()
Reset the model.
std::string skinFile
Filename for the skin.
Definition: Actor.hh:287
void Load(sdf::ElementPtr _sdf)
Load the actor.
double skinScale
Scaling factor to apply to the skin.
Definition: Actor.hh:290
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:307
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition: PhysicsTypes.hh:101
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Information about a trajectory for an Actor.
Definition: Actor.hh:43
common::Time prevFrameTime
Time of the previous frame.
Definition: Actor.hh:313
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:316
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
double startDelay
Time to wait before starting the script.
Definition: Actor.hh:294
Actor(BasePtr _parent)
Constructor.
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the actor.
A 3D mesh.
Definition: Mesh.hh:42
bool translated
True if the trajectory is translated.
Definition: Actor.hh:65
void Reset()
Reset the actor.
std::string type
Type of trajectory.
Definition: Actor.hh:53
std::map< std::string, common::SkeletonAnimation * > SkeletonAnimation_M
Typedef the skeleton animation map, indexed by their names.
Definition: Actor.hh:78
bool active
True if the actor is being updated.
Definition: Actor.hh:303
void ResetCustomTrajectory()
Reset custom trajectory of the actor.
bool loop
True if the animation should loop.
Definition: Actor.hh:300
Actor class enables GPU based mesh model / skeleton scriptable animation.
Definition: Actor.hh:74
std::map< unsigned int, common::PoseAnimation * > trajectories
Map of all the trajectories (pose animations) and their indices.
Definition: Actor.hh:321
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:351
transport::PublisherPtr bonePosePub
Publisher to send bone info.
Definition: Actor.hh:369
virtual void Init()
Initialize the actor.