SkeletalAnimation Class Reference

Class SkeletalAnimation. More...

#include <skeletal_animation.h>

Collaboration diagram for SkeletalAnimation:

Public Member Functions
	SkeletalAnimation ()
	Constructor. More...
void	initialize (igl::opengl::glfw::Viewer *viewer, Exoskeleton *left_exo, AnimatedHand *anim_hand, MenuHandler *menu_handler)
	Initialize animation. More...
bool	animation_loop (igl::opengl::glfw::Viewer &viewer)
	Animation loop callback. More...

Private Member Functions
void	setup_meshes (igl::opengl::glfw::Viewer &viewer)
	Setup meshes. More...

Private Attributes
std::string	m_hand_mesh_name
	Mesh filename. More...
std::string	m_hand_graph_name
	Skeleton graph filename. More...
std::string	m_hand_texture_name
	Texture name. More...
Exoskeleton *	m_left_exo
	Exoskeleton handler pointer. More...
AnimatedHand *	m_anim_hand
	Animated hand pointer. More...
MenuHandler *	m_menu_handler
	Menu handler pointer. More...
std::shared_ptr< Hand >	m_left_hand
	Left and right hand. More...
std::shared_ptr< Hand >	m_right_hand
std::shared_ptr< Face >	m_face
	Face handler. More...
Eigen::Vector3d	m_left_origin = Eigen::Vector3d(1.0, 0.0, 0.0)
	Left hand origin. More...
Eigen::Vector3d	m_right_origin = Eigen::Vector3d(-1.0, 0.0, 0.0)
	Right hand origin. More...
bool	m_initialize_animation = 1
	Start animation flag. More...

Detailed Description

Class SkeletalAnimation.

This class implements the skeletal animation for the hand.

Definition at line 38 of file skeletal_animation.h.

Constructor & Destructor Documentation

SkeletalAnimation()

SkeletalAnimation::SkeletalAnimation ( )

inline

Constructor.

Definition at line 44 of file skeletal_animation.h.

{};

Member Function Documentation

animation_loop()

bool SkeletalAnimation::animation_loop

(

igl::opengl::glfw::Viewer &

viewer

)

Animation loop callback.

This is the main animation callback function. This is where the rendering is happening. The function is passed as a lambda function to the Viewer handler (see main.cpp).

Parameters

viewer

Reference to the viewer handle.

Returns

true Animation should stop.

false Animations keeps playing.

Definition at line 33 of file skeletal_animation.cpp.

{
    if (viewer.core().is_animating)
    {
        // Initialize if ports are set
        if (m_menu_handler->are_ports_set() && m_initialize_animation)
        {
            // Setup meshes
            setup_meshes(viewer);
 
            // Dont initialize animations again
            m_initialize_animation = 0;
        }
 
        if(m_menu_handler->are_ports_set())
        {
            // Get euler angles
            auto euler_id =
                m_anim_hand->get_hand_angles(m_left_exo->get_joint_angles());
        
            // Update left hand
            m_left_hand->update(euler_id);
            viewer.data_list.at(0).set_vertices(m_left_hand->get_vertices());
 
            // Update right hand
            m_right_hand->update(euler_id);
            viewer.data_list.at(1).set_vertices(m_right_hand->get_vertices());
 
            // Update face
            viewer.data_list.at(2).set_vertices(m_face->get_vertices());
        }
    } 
    
    return false;
}

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initialize()

void SkeletalAnimation::initialize	(	igl::opengl::glfw::Viewer *	viewer,
		Exoskeleton *	left_exo,
		AnimatedHand *	anim_hand,
		MenuHandler *	menu_handler
	)

Initialize animation.

Initializes skeletal animation by copying the input arguments to the member variables.

Parameters

viewer	Pointer to the igl Viewer object.
left_exo	Pointer to the left exoskeleton object.
anim_hand	Pointer to the animated hand object.
menu_handler	Pointer to menu handler object.

Definition at line 11 of file skeletal_animation.cpp.

{
    // Get exoskeleton handler pointer
    m_left_exo = left_exo;
 
    // Get animation hand pointer
    m_anim_hand = anim_hand;
 
    // Get menu handler pointer
    m_menu_handler = menu_handler;
}

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setup_meshes()

void SkeletalAnimation::setup_meshes ( igl::opengl::glfw::Viewer &  viewer )

private

Setup meshes.

This function setups the exoskeletons. First it initializes the serial communications and defines the hand shared pointers. It also generates the hand meshes and passes them to the viewer mesh list (or data_list). See how libigl handles multiple meshes at https://github.com/libigl/libigl/blob/main/tutorial/107_MultipleMeshes/main.cpp.

Parameters

viewer

A reference to the viewer handle.

Definition at line 77 of file skeletal_animation.cpp.

{
    // Resize viewer data list
    viewer.data_list.resize(3);
 
    // Set mesh for face
    m_face = std::make_shared<Face>();
    
    viewer.data_list.at(2).set_mesh(m_face->get_vertices(),
        m_face->get_surface_indices());
 
   // Define serial COM for left exoskeleton
    std::string serial_com_left = m_menu_handler->get_left_exoskeleton_port();
 
   // Define serial COM for right exoskeleton
    std::string serial_com_right = m_menu_handler->get_right_exoskeleton_port();
 
    // Define baudrate
    unsigned int baud_rate = 115200;
    
    // Initialize left exoskeleton
    m_left_exo->initialize(serial_com_left, baud_rate);
 
    // Initialize right exoskeleton (to be done)
 
    // Initialize left hand
    m_left_hand = std::make_shared<Hand>(m_left_exo, m_anim_hand,
        m_hand_mesh_name, m_hand_graph_name, m_hand_texture_name, 0, 
        m_left_origin);
    
    // Set mesh for left hand
    viewer.data_list.at(0).set_mesh(m_left_hand->get_vertices(), 
        m_left_hand->get_surface_indices());
 
    // Initialze right hand
    m_right_hand = std::make_shared<Hand>(m_left_exo, m_anim_hand,
        m_hand_mesh_name, m_hand_graph_name, m_hand_texture_name, 1,
        m_right_origin);
 
    // Set mesh for right hand
    viewer.data_list.at(1).set_mesh(m_right_hand->get_vertices(), 
        m_right_hand->get_surface_indices());
}

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Member Data Documentation

m_anim_hand

AnimatedHand* SkeletalAnimation::m_anim_hand

private

Animated hand pointer.

Definition at line 74 of file skeletal_animation.h.

m_face

std::shared_ptr<Face> SkeletalAnimation::m_face

private

Face handler.

Definition at line 83 of file skeletal_animation.h.

m_hand_graph_name

std::string SkeletalAnimation::m_hand_graph_name

private

Initial value:

= 
        boost::filesystem::system_complete("share/hand.tgf").string()

Skeleton graph filename.

Definition at line 61 of file skeletal_animation.h.

m_hand_mesh_name

std::string SkeletalAnimation::m_hand_mesh_name

private

Initial value:

=
        boost::filesystem::system_complete("share/hand.mesh").string()

Mesh filename.

Definition at line 57 of file skeletal_animation.h.

m_hand_texture_name

std::string SkeletalAnimation::m_hand_texture_name

private

Initial value:

= 
        boost::filesystem::system_complete("share/texture.png").string()

Texture name.

Definition at line 65 of file skeletal_animation.h.

m_initialize_animation

bool SkeletalAnimation::m_initialize_animation = 1

private

Start animation flag.

Definition at line 92 of file skeletal_animation.h.

m_left_exo

Exoskeleton* SkeletalAnimation::m_left_exo

private

Exoskeleton handler pointer.

Definition at line 71 of file skeletal_animation.h.

m_left_hand

std::shared_ptr<Hand> SkeletalAnimation::m_left_hand

private

Left and right hand.

Definition at line 80 of file skeletal_animation.h.

m_left_origin

Eigen::Vector3d SkeletalAnimation::m_left_origin = Eigen::Vector3d(1.0, 0.0, 0.0)

private

Left hand origin.

Definition at line 86 of file skeletal_animation.h.

m_menu_handler

MenuHandler* SkeletalAnimation::m_menu_handler

private

Menu handler pointer.

Definition at line 77 of file skeletal_animation.h.

m_right_hand

std::shared_ptr<Hand> SkeletalAnimation::m_right_hand

private

Definition at line 80 of file skeletal_animation.h.

m_right_origin

Eigen::Vector3d SkeletalAnimation::m_right_origin = Eigen::Vector3d(-1.0, 0.0, 0.0)

private

Right hand origin.

Definition at line 89 of file skeletal_animation.h.

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The documentation for this class was generated from the following files:

• include/skeletal_animation.h
• src/skeletal_animation.cpp