49 lines
1.3 KiB
C
49 lines
1.3 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/client/Actor.h"
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#include "carla/rpc/WalkerControl.h"
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#include "carla/rpc/WalkerBoneControlIn.h"
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#include "carla/rpc/WalkerBoneControlOut.h"
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namespace carla {
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namespace client {
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class Walker : public Actor {
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public:
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using Control = rpc::WalkerControl;
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using BoneControlIn = rpc::WalkerBoneControlIn;
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using BoneControlOut = rpc::WalkerBoneControlOut;
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explicit Walker(ActorInitializer init) : Actor(std::move(init)) {}
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/// Apply @a control to this Walker.
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void ApplyControl(const Control &control);
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/// Return the control last applied to this Walker.
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///
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/// @note This function does not call the simulator, it returns the Control
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/// received in the last tick.
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Control GetWalkerControl() const;
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BoneControlOut GetBonesTransform();
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void SetBonesTransform(const BoneControlIn &bones);
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void BlendPose(float blend);
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void ShowPose() { BlendPose(1.0f); };
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void HidePose() { BlendPose(0.0f); };
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void GetPoseFromAnimation();
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private:
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Control _control;
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};
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} // namespace client
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} // namespace carla
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