GeomAttributes.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
#define DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
 
#include <Eigen/Core>
 
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/math/MathTypes.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Types.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
struct GeomAttributes final
{
  common::optional<std::string> mName;
 
  GeomType mType{GeomType::SPHERE};
 
  int mConType{1};
 
  int mConAffinity{1};
 
  int mConDim{3};
 
  int mGroup{0};
 
  int mPriority{0};
 
  Eigen::Vector3d mSize{Eigen::Vector3d::Zero()};
 
  Eigen::Vector4d mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};
 
  Eigen::Vector3d mFriction{Eigen::Vector3d(1, 0.005, 0.0001)};
 
  common::optional<double> mMass;
 
  double mDensity{1000};
 
  double mSolMix{1};
 
  double mMargin{0};
 
  double mGap{0};
 
  common::optional<Eigen::Vector6d> mFromTo;
 
  Eigen::Vector3d mPos{Eigen::Vector3d::Zero()};
 
  Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};
 
  common::optional<Eigen::Vector4d> mAxisAngle;
 
  common::optional<Eigen::Vector3d> mEuler;
 
  common::optional<Eigen::Vector6d> mXYAxes;
 
  common::optional<Eigen::Vector3d> mZAxis;
 
  common::optional<std::string> mHField;
 
  common::optional<std::string> mMesh;
 
  double mFitScale{1};
};
 
Errors appendGeomAttributes(
    GeomAttributes& attributes, tinyxml2::XMLElement* element);
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_