Public Attributes
Eigen::Vector3d	mPos
	Position of the inertial frame. More...

Eigen::Quaterniond	mQuat {Eigen::Quaterniond::Identity()}
	Quaternion. More...

common::optional< Eigen::Vector4d >	mAxisAngle
	These are the quantities (x, y, z, a) mentioned above. More...

common::optional< Eigen::Vector3d >	mEuler
	Rotation angles around three coordinate axes. More...

common::optional< Eigen::Vector6d >	mXYAxes
	The first 3 numbers are the X axis of the frame. More...

common::optional< Eigen::Vector3d >	mZAxis
	The Z axis of the frame. More...

Eigen::Isometry3d	mRelativeTransform {Eigen::Isometry3d::Identity()}

Eigen::Isometry3d	mWorldTransform {Eigen::Isometry3d::Identity()}

double	mMass
	Mass of the body. More...

common::optional< Eigen::Vector3d >	mDiagInertia
	Diagonal inertia matrix, expressing the body inertia relative to the inertial frame. More...

common::optional< Eigen::Vector6d >	mFullInertia
	Full inertia matrix M. More...

Member Data Documentation

◆ mAxisAngle

common::optional<Eigen::Vector4d> dart::utils::MjcfParser::detail::Inertial::Data::mAxisAngle

These are the quantities (x, y, z, a) mentioned above.

The last number is the angle of rotation, in degrees or radians as specified by the angle attribute of compiler.

◆ mDiagInertia

common::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::Inertial::Data::mDiagInertia

Diagonal inertia matrix, expressing the body inertia relative to the inertial frame.

◆ mEuler

common::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::Inertial::Data::mEuler

Rotation angles around three coordinate axes.

◆ mFullInertia

common::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::Inertial::Data::mFullInertia

Full inertia matrix M.

◆ mMass

double dart::utils::MjcfParser::detail::Inertial::Data::mMass

Mass of the body.

◆ mPos

Eigen::Vector3d dart::utils::MjcfParser::detail::Inertial::Data::mPos

Position of the inertial frame.

◆ mQuat

Eigen::Quaterniond dart::utils::MjcfParser::detail::Inertial::Data::mQuat {Eigen::Quaterniond::Identity()}

Quaternion.

◆ mRelativeTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Inertial::Data::mRelativeTransform {Eigen::Isometry3d::Identity()}

◆ mWorldTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Inertial::Data::mWorldTransform {Eigen::Isometry3d::Identity()}

◆ mXYAxes

common::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::Inertial::Data::mXYAxes

The first 3 numbers are the X axis of the frame.

The next 3 numbers are the Y axis of the frame, which is automatically made orthogonal to the X axis. The Z axis is then defined as the cross-product of the X and Y axes.

◆ mZAxis

common::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::Inertial::Data::mZAxis

The Z axis of the frame.

Public Attributes