33 #ifndef DART_UTILS_MJCF_DETAIL_GEOM_HPP_
34 #define DART_UTILS_MJCF_DETAIL_GEOM_HPP_
46 namespace MjcfParser {
59 const std::string&
getName()
const;
67 const Eigen::Vector3d&
getSize()
const;
87 const Eigen::Vector4d&
getRGBA()
const;
106 const std::string&
getMesh()
const;
115 tinyxml2::XMLElement* element,
152 Eigen::Vector3d
mSize{Eigen::Vector3d::Zero()};
154 Eigen::Vector4d
mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};
156 Eigen::Vector3d
mFriction{Eigen::Vector3d(1, 0.005, 0.0001)};
165 Eigen::Matrix3d
mInertia{Eigen::Matrix3d::Identity()};
Definition: Compiler.hpp:51
Definition: Default.hpp:80
int getConDim() const
Definition: Geom.cpp:372
double mGap
This attribute is used to enable the generation of inactive contacts, i.e.
Definition: Geom.hpp:178
double getCapsuleLength() const
Definition: Geom.cpp:420
Eigen::Vector3d getEllipsoidDiameters() const
Definition: Geom.cpp:432
const Eigen::Isometry3d & getWorldTransform() const
Definition: Geom.cpp:552
void setRelativeTransform(const Eigen::Isometry3d &tf)
Definition: Geom.cpp:534
double getGap() const
Definition: Geom.cpp:516
Eigen::Vector3d getBoxSize() const
Definition: Geom.cpp:462
Eigen::Isometry3d mRelativeTransform
Definition: Geom.hpp:180
Eigen::Vector4d mRGBA
Definition: Geom.hpp:154
const Eigen::Isometry3d & getRelativeTransform() const
Definition: Geom.cpp:540
Errors postprocess(const Body *body, const Compiler &compiler)
Updates attributes and elements that require the compiled parent element.
Definition: Geom.cpp:316
double getMargine() const
Definition: Geom.cpp:510
double mVolume
Definition: Geom.hpp:163
double getCylinderRadius() const
Definition: Geom.cpp:438
Errors read(tinyxml2::XMLElement *element, const Defaults &defaults, const GeomAttributes &defaultAttributes)
Definition: Geom.cpp:50
Eigen::Vector3d mFriction
Definition: Geom.hpp:156
const std::string & getHField() const
Definition: Geom.cpp:522
GeomType getType() const
Definition: Geom.cpp:354
const std::string & getName() const
Definition: Geom.cpp:348
int mPriority
Definition: Geom.hpp:149
double getCapsuleRadius() const
Definition: Geom.cpp:408
GeomType mType
Type of geometric shape.
Definition: Geom.hpp:139
double mFitScale
Definition: Geom.hpp:187
const Eigen::Vector3d & getBoxHalfSize() const
Definition: Geom.cpp:456
Eigen::Isometry3d mWorldTransform
Definition: Geom.hpp:182
const Eigen::Vector4d & getRGBA() const
Definition: Geom.cpp:468
double mMass
Definition: Geom.hpp:158
const Eigen::Vector3d & getFriction() const
Definition: Geom.cpp:474
const Eigen::Vector3d & getSize() const
Definition: Geom.cpp:390
double getSolMix() const
Definition: Geom.cpp:504
int getPriority() const
Definition: Geom.cpp:384
const std::string & getMesh() const
Definition: Geom.cpp:528
int mGroup
Definition: Geom.hpp:147
double getVolume() const
Definition: Geom.cpp:492
int mConDim
Definition: Geom.hpp:145
std::string mMesh
Definition: Geom.hpp:185
int getConType() const
Definition: Geom.cpp:360
double getMass() const
Definition: Geom.cpp:480
Errors preprocess(const Compiler &compiler)
Updates attributes and elements that doesn't require any other elements.
Definition: Geom.cpp:113
const Eigen::Vector3d & getEllipsoidRadii() const
Definition: Geom.cpp:426
Errors compile(const Compiler &compiler)
Updates attributes and elements that require the preprocessed child elements of this <geom>.
Definition: Geom.cpp:309
int getConAffinity() const
Definition: Geom.cpp:366
double getCapsuleHalfLength() const
Definition: Geom.cpp:414
double getCylinderHalfLength() const
Definition: Geom.cpp:444
double mMargin
Distance threshold below which contacts are detected and included in the global array mjData....
Definition: Geom.hpp:173
Eigen::Matrix3d mInertia
Definition: Geom.hpp:165
double mSolMix
Weight used for averaging of contact parameters, and interacts with the priority attribute.
Definition: Geom.hpp:169
double getSphereRadius() const
Definition: Geom.cpp:402
int getGroup() const
Definition: Geom.cpp:378
Eigen::Vector3d mSize
Geom size parameters.
Definition: Geom.hpp:152
double getDensity() const
Definition: Geom.cpp:486
int mConAffinity
Definition: Geom.hpp:143
GeomAttributes mAttributes
Definition: Geom.hpp:133
void setWorldTransform(const Eigen::Isometry3d &tf)
Definition: Geom.cpp:546
std::string mHField
Definition: Geom.hpp:184
double mDensity
Material density used to compute the geom mass and inertia.
Definition: Geom.hpp:161
std::string mName
Name of the geom.
Definition: Geom.hpp:136
Eigen::Matrix3d computeInertia() const
Definition: Geom.cpp:583
const Eigen::Matrix3d & getInertia() const
Definition: Geom.cpp:498
Eigen::Vector2d getPlaneHalfSize() const
Definition: Geom.cpp:396
double computeVolume() const
Definition: Geom.cpp:558
double getCylinderLength() const
Definition: Geom.cpp:450
int mConType
Definition: Geom.hpp:141
Geom()=default
Default constructor.
Definition: Worldbody.hpp:54
GeomType
Definition: Types.hpp:119
std::vector< Error > Errors
Definition: Error.hpp:85
Definition: BulletCollisionDetector.cpp:65
Intermediate raw data read from the XML file.
Definition: GeomAttributes.hpp:53