DART 6.10.1
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GeomAttributes.hpp
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32
33#ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
34#define DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
35
36#include <Eigen/Core>
37
38#include <tinyxml2.h>
39
44
45namespace dart {
46namespace utils {
47namespace MjcfParser {
48namespace detail {
49
52struct GeomAttributes final
53{
56
59
60 int mConType{1};
61
63
64 int mConDim{3};
65
66 int mGroup{0};
67
68 int mPriority{0};
69
71 Eigen::Vector3d mSize{Eigen::Vector3d::Zero()};
72
73 Eigen::Vector4d mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};
74
75 Eigen::Vector3d mFriction{Eigen::Vector3d(1, 0.005, 0.0001)};
76
79
81 double mDensity{1000};
82
85 double mSolMix{1};
86
89 double mMargin{0};
90
94 double mGap{0};
95
100
103 Eigen::Vector3d mPos{Eigen::Vector3d::Zero()};
104
106 Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};
107
112
115
121
124
126
128
129 double mFitScale{1};
130};
131
133 GeomAttributes& attributes, tinyxml2::XMLElement* element);
134
135} // namespace detail
136} // namespace MjcfParser
137} // namespace utils
138} // namespace dart
139
140#endif // #ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
boost::optional< T > optional
Definition Optional.hpp:50
GeomType
Definition Types.hpp:119
Errors appendGeomAttributes(GeomAttributes &attributes, tinyxml2::XMLElement *element)
Definition GeomAttributes.cpp:44
std::vector< Error > Errors
Definition Error.hpp:85
Definition BulletCollisionDetector.cpp:65
Intermediate raw data read from the XML file.
Definition GeomAttributes.hpp:53
common::optional< Eigen::Vector4d > mAxisAngle
These are the quantities (x, y, z, a) mentioned above.
Definition GeomAttributes.hpp:111
double mSolMix
Weight used for averaging of contact parameters, and interacts with the priority attribute.
Definition GeomAttributes.hpp:85
double mDensity
Material density used to compute the geom mass and inertia.
Definition GeomAttributes.hpp:81
int mConType
Definition GeomAttributes.hpp:60
double mGap
This attribute is used to enable the generation of inactive contacts, i.e.
Definition GeomAttributes.hpp:94
common::optional< Eigen::Vector6d > mXYAxes
The first 3 numbers are the X axis of the frame.
Definition GeomAttributes.hpp:120
int mConDim
Definition GeomAttributes.hpp:64
common::optional< Eigen::Vector3d > mEuler
Rotation angles around three coordinate axes.
Definition GeomAttributes.hpp:114
common::optional< std::string > mHField
Definition GeomAttributes.hpp:125
common::optional< std::string > mName
Name of the geom.
Definition GeomAttributes.hpp:55
Eigen::Vector3d mPos
Position of the geom frame, in local or global coordinates as determined by the coordinate attribute ...
Definition GeomAttributes.hpp:103
common::optional< double > mMass
Mass.
Definition GeomAttributes.hpp:78
int mConAffinity
Definition GeomAttributes.hpp:62
Eigen::Vector4d mRGBA
Definition GeomAttributes.hpp:73
GeomType mType
Type of geometric shape.
Definition GeomAttributes.hpp:58
Eigen::Vector3d mSize
Geom size parameters.
Definition GeomAttributes.hpp:71
double mMargin
Distance threshold below which contacts are detected and included in the global array mjData....
Definition GeomAttributes.hpp:89
Eigen::Quaterniond mQuat
Quaternion.
Definition GeomAttributes.hpp:106
int mPriority
Definition GeomAttributes.hpp:68
int mGroup
Definition GeomAttributes.hpp:66
common::optional< std::string > mMesh
Definition GeomAttributes.hpp:127
Eigen::Vector3d mFriction
Definition GeomAttributes.hpp:75
double mFitScale
Definition GeomAttributes.hpp:129
common::optional< Eigen::Vector6d > mFromTo
This attribute can only be used with capsule, cylinder, ellipsoid and box geoms.
Definition GeomAttributes.hpp:99
common::optional< Eigen::Vector3d > mZAxis
The Z axis of the frame.
Definition GeomAttributes.hpp:123