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17 #ifndef GAZEBO_PHYSICS_ACTOR_HH_
18 #define GAZEBO_PHYSICS_ACTOR_HH_
25 #include <ignition/math/Color.hh>
52 public:
unsigned int id;
80 public:
typedef std::map<std::string, common::SkeletonAnimation *>
88 public:
virtual ~
Actor();
92 public:
void Load(sdf::ElementPtr _sdf);
95 public:
virtual void Init();
98 public:
virtual void Play();
101 public:
virtual void Stop();
105 public:
virtual bool IsActive()
const;
108 public:
void Update();
111 public:
virtual void Fini();
115 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf);
119 public:
virtual const sdf::ElementPtr GetSDF();
122 public:
void Reset();
129 public:
void SetScriptTime(
const double _time);
135 public:
double ScriptTime()
const;
162 public:
void ResetCustomTrajectory();
168 public:
virtual bool GetSelfCollide()
const;
175 public:
virtual void SetSelfCollide(
bool _selfCollide);
181 public:
virtual bool WindMode()
const;
188 public:
virtual void SetWindMode(
const bool _enabled);
195 private:
void AddSphereInertia(
const sdf::ElementPtr &_linkSdf,
196 const ignition::math::Pose3d &_pose,
197 const double _mass,
const double _radius);
205 private:
void AddSphereCollision(
const sdf::ElementPtr &_linkSdf,
206 const std::string &_name,
207 const ignition::math::Pose3d &_pose,
208 const double _radius);
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);
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);
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);
252 private:
void AddActorVisual(
const sdf::ElementPtr &_linkSdf,
253 const std::string &_name,
254 const ignition::math::Pose3d &_pose);
260 private:
bool LoadSkin(sdf::ElementPtr _sdf);
267 private:
void LoadAnimation(sdf::ElementPtr _sdf);
271 private:
void LoadScript(sdf::ElementPtr _sdf);
278 private:
void SetPose(
279 std::map<std::string, ignition::math::Matrix4d> _frame,
280 std::map<std::string, std::string> _skelMap,
324 protected: std::map<unsigned int, common::PoseAnimation *>
trajectories;
346 protected: std::map<std::string, std::map<std::string, std::string> >
376 private:
double scriptTime;
383 private: std::unique_ptr<ActorPrivate> dataPtr;
unsigned int lastTraj
Id of the last trajectory.
Definition: Actor.hh:363
double startTime
Start time of this keyframe within the trajectory, in seconds.
Definition: Actor.hh:62
std::vector< TrajectoryInfo > trajInfo
A vector of trajectory information, which contains information such as their durations,...
Definition: Actor.hh:330
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:300
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:347
void SetScriptTime(const double _time)
Set the current script time.
common::Skeleton * skeleton
The actor's skeleton.
Definition: Actor.hh:287
ignition::math::Vector3d lastPos
Last position of the actor.
Definition: Actor.hh:357
std::string visualName
Name of the visual representing the skin.
Definition: Actor.hh:366
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
const common::Mesh * mesh
Pointer to the actor's mesh.
Definition: Actor.hh:284
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:369
unsigned int id
ID of the trajectory.
Definition: Actor.hh:52
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:65
double pathLength
Length of the actor's path.
Definition: Actor.hh:360
double duration
Duration of this keyframe in seconds.
Definition: Actor.hh:59
SkeletonAnimation_M skelAnimation
Map of skeleton animations, indexed by their names.
Definition: Actor.hh:336
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:313
void Reset()
Reset the model.
std::string skinFile
Filename for the skin.
Definition: Actor.hh:290
void Load(sdf::ElementPtr _sdf)
Load the actor.
double skinScale
Scaling factor to apply to the skin.
Definition: Actor.hh:293
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:310
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:46
common::Time prevFrameTime
Time of the previous frame.
Definition: Actor.hh:316
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:319
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:297
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:68
void Reset()
Reset the actor.
std::string type
Type of trajectory.
Definition: Actor.hh:56
std::map< std::string, common::SkeletonAnimation * > SkeletonAnimation_M
Typedef the skeleton animation map, indexed by their names.
Definition: Actor.hh:81
bool active
True if the actor is being updated.
Definition: Actor.hh:306
void ResetCustomTrajectory()
Reset custom trajectory of the actor.
bool loop
True if the animation should loop.
Definition: Actor.hh:303
Actor class enables GPU based mesh model / skeleton scriptable animation.
Definition: Actor.hh:77
std::map< unsigned int, common::PoseAnimation * > trajectories
Map of all the trajectories (pose animations) and their indices.
Definition: Actor.hh:324
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
transport::PublisherPtr bonePosePub
Publisher to send bone info.
Definition: Actor.hh:372
virtual void Init()
Initialize the actor.