Actor.hh
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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.
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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_PHYSICS_ACTOR_HH_
18 #define GAZEBO_PHYSICS_ACTOR_HH_
19 
20 #include <string>
21 #include <map>
22 #include <vector>
23 
24 #include <ignition/math/Color.hh>
25 
26 #include "gazebo/physics/Model.hh"
27 #include "gazebo/common/Time.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace common
34  {
35  class Mesh;
36  class Skeleton;
37  }
38 
39  namespace physics
40  {
43  class GZ_PHYSICS_VISIBLE TrajectoryInfo
44  {
46  public: TrajectoryInfo();
47 
49  public: unsigned int id;
50 
53  public: std::string type;
54 
56  public: double duration;
57 
59  public: double startTime;
60 
62  public: double endTime;
63 
65  public: bool translated;
66  };
67 
70 
74  class GZ_PHYSICS_VISIBLE Actor : public Model
75  {
77  public: typedef std::map<std::string, common::SkeletonAnimation *>
79 
82  public: explicit Actor(BasePtr _parent);
83 
85  public: virtual ~Actor();
86 
89  public: void Load(sdf::ElementPtr _sdf);
90 
92  public: virtual void Init();
93 
95  public: virtual void Play();
96 
98  public: virtual void Stop();
99 
102  public: virtual bool IsActive() const;
103 
105  public: void Update();
106 
108  public: virtual void Fini();
109 
112  public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
113 
116  public: virtual const sdf::ElementPtr GetSDF();
117 
119  public: void Reset();
120  using Model::Reset;
121 
126  public: void SetScriptTime(const double _time);
127 
132  public: double ScriptTime() const;
133 
137  public: const SkeletonAnimation_M &SkeletonAnimations() const;
138 
145  public: void SetCustomTrajectory(TrajectoryInfoPtr &_trajInfo);
146 
149  public: const common::Mesh *Mesh() const;
150 
155  public: TrajectoryInfoPtr CustomTrajectory() const;
156 
159  public: void ResetCustomTrajectory();
160 
165  public: virtual bool GetSelfCollide() const;
166 
172  public: virtual void SetSelfCollide(bool _selfCollide);
173 
178  public: virtual bool WindMode() const;
179 
185  public: virtual void SetWindMode(const bool _enabled);
186 
192  private: void AddSphereInertia(const sdf::ElementPtr &_linkSdf,
193  const ignition::math::Pose3d &_pose,
194  const double _mass, const double _radius);
195 
202  private: void AddSphereCollision(const sdf::ElementPtr &_linkSdf,
203  const std::string &_name,
204  const ignition::math::Pose3d &_pose,
205  const double _radius);
206 
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);
217 
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);
230 
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);
244 
249  private: void AddActorVisual(const sdf::ElementPtr &_linkSdf,
250  const std::string &_name,
251  const ignition::math::Pose3d &_pose);
252 
257  private: bool LoadSkin(sdf::ElementPtr _sdf);
258 
264  private: void LoadAnimation(sdf::ElementPtr _sdf);
265 
268  private: void LoadScript(sdf::ElementPtr _sdf);
269 
275  private: void SetPose(
276  std::map<std::string, ignition::math::Matrix4d> _frame,
277  std::map<std::string, std::string> _skelMap,
278  const double _time);
279 
281  protected: const common::Mesh *mesh = nullptr;
282 
284  protected: common::Skeleton *skeleton = nullptr;
285 
287  protected: std::string skinFile;
288 
290  protected: double skinScale;
291 
294  protected: double startDelay;
295 
297  protected: double scriptLength;
298 
300  protected: bool loop;
301 
303  protected: bool active;
304 
307  protected: bool autoStart;
308 
310  protected: LinkPtr mainLink;
311 
314 
317 
321  protected: std::map<unsigned int, common::PoseAnimation *> trajectories;
322 
327  protected: std::vector<TrajectoryInfo> trajInfo;
328 
334 
343  protected: std::map<std::string, std::map<std::string, std::string> >
345 
348  // direction.
351  protected: std::map<std::string, bool> interpolateX;
352 
354  protected: ignition::math::Vector3d lastPos;
355 
357  protected: double pathLength;
358 
360  protected: unsigned int lastTraj;
361 
363  protected: std::string visualName;
364 
366  protected: uint32_t visualId;
367 
370 
373  private: double scriptTime;
374 
377  private: TrajectoryInfoPtr customTrajectoryInfo;
378  };
380  }
381 }
382 #endif
383 
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.