tween.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  tween.h
 * @brief   Tween plugin
 * @author  Joseph Duchesne
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     with the distribution.
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 *
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#include <Box2D/Box2D.h>
#include <flatland_plugins/update_timer.h>
#include <flatland_server/model_plugin.h>
#include <flatland_server/timekeeper.h>
#include <flatland_server/types.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/Bool.h>
#include "tweeny.h"

#ifndef FLATLAND_PLUGINS_TWEEN_H
#define FLATLAND_PLUGINS_TWEEN_H

using namespace flatland_server;

namespace flatland_plugins {

class Tween : public flatland_server::ModelPlugin {
 public:
  Body* body_;      // The body this plugin is attached to
  Pose start_;      // The start pose of the model
  Pose delta_;      // The maximum change
  float duration_;  // Seconds to enact change over

  ros::Subscriber trigger_sub_;  // Handle forward/reverse trigger
  bool triggered_ = false;  // If true,animate forwards, otherwise backwards

  tweeny::tween<double, double, double> tween_;  // The tween object (x,y,theta)

  // The three different operating modes
  enum class ModeType_ {
    YOYO,    // tween up to delta_, then down again, and repeat
    LOOP,    // tween up to delta_, then teleport back to start_
    ONCE,    // tween up to delta_ then stay there
    TRIGGER  // tween forwards on "true", backward on "false"
  };
  ModeType_ mode_;
  static std::map<std::string, Tween::ModeType_> mode_strings_;

  enum class EasingType_ {
    linear,
    quadraticIn,
    quadraticOut,
    quadraticInOut,
    cubicIn,
    cubicOut,
    cubicInOut,
    quarticIn,
    quarticOut,
    quarticInOut,
    quinticIn,
    quinticOut,
    quinticInOut,
    // sinuisodal,
    exponentialIn,
    exponentialOut,
    exponentialInOut,
    circularIn,
    circularOut,
    circularInOut,
    backIn,
    backOut,
    backInOut,
    elasticIn,
    elasticOut,
    elasticInOut,
    bounceIn,
    bounceOut,
    bounceInOut
  };
  static std::map<std::string, Tween::EasingType_> easing_strings_;

  void OnInitialize(const YAML::Node& config) override;
  void BeforePhysicsStep(const Timekeeper& timekeeper) override;

  void TriggerCallback(const std_msgs::Bool& msg);
};
};

#endif