Joint.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_JOINT_HPP_
#define DART_UTILS_MJCF_DETAIL_JOINT_HPP_
 
#include <tinyxml2.h>
 
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Default.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/JointAttributes.hpp"
#include "dart/utils/mjcf/detail/Types.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Body;
 
class Joint final
{
public:
  Joint() = default;
 
  const std::string& getName() const;
  JointType getType() const;
  const Eigen::Vector3d& getPos() const;
  const Eigen::Vector3d& getAxis() const;
  bool isLimited() const;
  const Eigen::Vector2d& getRange() const;
  double getDamping() const;
  double getSpringRef() const;
 
private:
  // Private members used by Body class
  friend class Body;
  Errors read(
      tinyxml2::XMLElement* element,
      const Defaults& defaults,
      const JointAttributes& defaultAttributes);
 
  Errors preprocess(const Compiler& compiler);
 
  Errors compile(const Compiler& compiler);
 
  Errors postprocess(const Body* body, const Compiler& compiler);
 
private:
  JointAttributes mAttributes;
 
  std::string mName{""};
 
  JointType mType{JointType::HINGE};
 
  int mGroup{0};
 
  Eigen::Vector3d mPos{Eigen::Vector3d::Zero()};
 
  Eigen::Vector3d mAxis{Eigen::Vector3d::UnitZ()};
 
  Eigen::Vector2d mSpringDamper{Eigen::Vector2d::Zero()};
 
  bool mLimited{false};
 
  double mStiffness{0};
 
  Eigen::Vector2d mRange{Eigen::Vector2d::Zero()};
 
  double mMargin{0};
 
  double mRef{0};
 
  double mSpringRef{0};
 
  double mArmature{0};
 
  double mDamping{0};
 
  double mFrictionLoss{0};
 
  Eigen::VectorXd mUser;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_JOINT_HPP_