/usr/include/SurgSim/Graphics/SkeletonRepresentation.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H
#define SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H
#include <string>
#include "SurgSim/Framework/FrameworkConvert.h"
#include "SurgSim/Graphics/Model.h"
#include "SurgSim/Graphics/Representation.h"
#include "SurgSim/Math/MathConvert.h"
#include "SurgSim/Math/RigidTransform.h"
namespace SurgSim
{
namespace Graphics
{
/// Skeleton representation is used to move a mesh based on the movements of
/// pre-selected control points (bones).
class SkeletonRepresentation : public virtual Representation
{
public:
/// Constructor.
/// \param name The name of the representation.
explicit SkeletonRepresentation(const std::string& name): Representation(name)
{
SURGSIM_ADD_SERIALIZABLE_PROPERTY(SkeletonRepresentation, std::shared_ptr<SurgSim::Framework::Asset>,
Model, getModel, setModel);
// Enables the alternative use of the model file instead of the actual mesh object
DecoderType decoder = std::bind(&SkeletonRepresentation::loadModel,
this,
std::bind(&YAML::Node::as<std::string>, std::placeholders::_1));
setDecoder("ModelFileName", decoder);
SetterType setter = std::bind(&SkeletonRepresentation::loadModel,
this,
std::bind(SurgSim::Framework::convert<std::string>, std::placeholders::_1));
setSetter("ModelFileName", setter);
typedef std::map<std::string, SurgSim::Math::RigidTransform3d> PoseMap;
SURGSIM_ADD_SERIALIZABLE_PROPERTY(SkeletonRepresentation, PoseMap,
NeutralPoses, getNeutralBonePoses, setNeutralBonePoses);
}
/// Convenience function to trigger the load of the model with the given filename, if successful, this will
/// replace the old model
/// \param fileName Name of the file to be loaded
virtual void loadModel(const std::string& fileName) = 0;
/// Set the current model to the model passed
/// \param model to be used for this scenery representation, this will replace the old model
virtual void setModel(std::shared_ptr<SurgSim::Framework::Asset> model) = 0;
/// \return the current model.
virtual std::shared_ptr<Model> getModel() const = 0;
/// Set the pose for a given bone.
/// \param name The name of the bone.
/// \param pose The pose of the bone.
virtual void setBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) = 0;
/// Get the pose for a given bone.
/// \param name The name of the bone.
/// \return pose The pose of the bone.
virtual SurgSim::Math::RigidTransform3d getBonePose(const std::string& name) const = 0;
/// Set the neutral pose for a given bone.
/// \param name The name of the bone.
/// \param pose The neutral pose of the bone.
virtual void setNeutralBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) = 0;
/// Get the neutral pose for a given bone.
/// \param name The name of the bone.
/// \return pose The neutral pose of the bone.
virtual SurgSim::Math::RigidTransform3d getNeutralBonePose(const std::string& name) const = 0;
protected:
/// Set neutral poses for a set of bones.
/// \param poses A map of bone names and neutral poses
virtual void setNeutralBonePoses(const std::map<std::string, SurgSim::Math::RigidTransform3d>& poses) = 0;
/// Get all the neutral poses
/// \return A map of bone names and neutral poses
virtual std::map<std::string, SurgSim::Math::RigidTransform3d> getNeutralBonePoses() const = 0;
};
}; // namespace Graphics
}; // namespace SurgSim
#endif // SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H
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