Walker.h

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