Tween

The tween plugin moves a body from it’s start location to a relative end position.

This can be done using a variety of tween modes and easings.

Modes

• yoyo - move back and forth between the start and end position repeatedly
• once - move to the end position and stop
• loop - move to the end position then teleport back, then repeat indefinitely
• trigger - move towards the end position if the “trigger_topic” ros topic recieves true, move towards start otherwise.

Easings

The default easing is “linear”, but the following is a complete list of supported easing modes:

• linear
• quadraticIn, quadraticOut, quadraticInOut
• cubicIn, cubicOut, cubicInOut
• quarticIn, quarticOut, quarticInOut
• quinticIn, quinticOut, quinticInOut
• exponentialIn, exponentialOut, exponentialInOut
• circularIn, circularOut, circularInOut
• backIn, backOut, backInOut
• elasticIn, elasticOut, elasticInOut
• bounceIn, bounceOut, bounceInOut

You can see visual examples of these easing modes here at easings.net.

Configuration

plugins:

    # required, specify Tween type to load the plugin
  - type: Tween

    # required, name of the plugin, unique within the model
    name: MyTweenPlugin

    # The tween mode (documented above, default 'yoyo')
    mode: yoyo

    # The easing mode (documented above, default 'linear')
    easing: cubicInOut

    # The ROS topic name to subscribe to for 'trigger' mode ("/tween_trigger")
    # This will respect model namespaces
    # e.g. if this model has namespace "foo", it will publish on "/foo/tween_trigger"
    trigger_topic: tween_trigger

    # animation duration in seconds (default 1 second)
    duration: 10

    # The tween delta pose (delta x, y and angle)
    # The following will move the object to x += 2, y += 3, and angle += 1.1
    # relative to the start position
    delta: [2, 3, 1.1]

    # The model body to move
    body: some_body