I am a British actress known for both period dramas and sci-fi roles. I've portrayed a queen, a rebellious leader, and a woman from the future. I was also a part of a popular franchise, though not as a main character. I am a trained dancer and frequently engage in charitable work related to child advocacy. Who am I?

1. I played Anne Boleyn in 'The Tudors'.
2. I was 'Queen Gertrude' in Hamlet alongside Benedict Cumberbatch.
3. I played 'the mother' in a 'Star Wars' movie.
4. I was in the 'Divergent' movie series.