WeldAttributes.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_WELDATTRIBUTES_HPP_
#define DART_UTILS_MJCF_DETAIL_WELDATTRIBUTES_HPP_
 
#include <Eigen/Core>
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
struct WeldAttributes final
{
  common::optional<std::string> mName;
  bool mActive{true};
  Eigen::Vector2d mSolRef;
  Eigen::Matrix<double, 5, 1> mSolImp;
  std::string mBody1;
  common::optional<std::string> mBody2;
  Eigen::Matrix<double, 7, 1> mRelPose;
 
  WeldAttributes();
};
 
Errors appendWeldAttributes(
    WeldAttributes& attributes, tinyxml2::XMLElement* element);
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_WELDATTRIBUTES_HPP_