MAMotionSkit.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include <string>

#include "core/MACoreTypes.hpp"
#include "types/MABodyTypes.hpp"
#include "types/MALeg.hpp"
#include "MASkitBase.hpp"

class MCBinaryData;
class MAMotionSkit;

namespace MA
{
typedef boost::shared_ptr<MAMotionSkit> MotionSkitSPtr;
}

class MAMotionSkit : public MASkitBase
{
  MAMotionSkit();
public:
  std::string GetName() const;

  std::string GetSkitName() const;

  int GetDuration() const;

  MA::MotionSkitSPtr CloneMirrored() const;

  void Dump() const;

  bool IsStartingPostureSit() const;

  bool IsFinishingPostureSit() const;

  bool IsStartingPostureLie() const;

  bool IsFinishingPostureLie() const;


  bool IsStartingPostureStand() const;

  bool IsFinishingPostureStand() const;

  MAGeneratorContainer* GetGeneratorContainer(MA::Leg::LegTypes leg, MA::LegJointsType joint) const;

  MAGeneratorContainer* GetGeneratorContainer(MA::TailJointsType tail_joint) const;

  MAGeneratorContainer* GetGeneratorContainer(MA::HeadJointsType head_joint) const;

  static MAMotionSkit* DecodeMtnData(const MCBinaryData& binary_data);

private:

  bool IsPostureSit(unsigned int keyframe_index) const;

  bool IsPostureLie(unsigned int keyframe_index) const;

  bool IsPostureStand(unsigned int keyframe_index) const;

  MAGeneratorContainer* GetGeneratorContainer(unsigned int column_index,
                                              bool invert_value = false) const;

private:
  std::string Name;
  MC::IntTable Keyframes;
  int SkitDuration;
};