Site.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_SITE_HPP_
#define DART_UTILS_MJCF_DETAIL_SITE_HPP_
 
#include <string>
 
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/math/MathTypes.hpp"
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Types.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Body;
 
class Site final
{
public:
  Site() = default;
 
 
  const std::string& getName() const;
  GeomType getType() const;
  int getGroup() const;
 
  const Eigen::Vector3d& getSize() const;
 
  double getSphereRadius() const;
 
  double getCapsuleRadius() const;
  double getCapsuleHalfLength() const;
  double getCapsuleLength() const;
 
  const Eigen::Vector3d& getEllipsoidRadii() const;
  Eigen::Vector3d getEllipsoidDiameters() const;
 
  double getCylinderRadius() const;
  double getCylinderHalfLength() const;
  double getCylinderLength() const;
 
  const Eigen::Vector3d& getBoxHalfSize() const;
  Eigen::Vector3d getBoxSize() const;
 
  const Eigen::Vector4d& getRGBA() const;
  const Eigen::Vector3d& getFriction() const;
 
  void setRelativeTransform(const Eigen::Isometry3d& tf);
  const Eigen::Isometry3d& getRelativeTransform() const;
 
  void setWorldTransform(const Eigen::Isometry3d& tf);
  const Eigen::Isometry3d& getWorldTransform() const;
 
 
private:
  // Private members used by Body and WorldBody class
  friend class Body;
  friend class Worldbody;
  Errors read(tinyxml2::XMLElement* element);
 
  Errors preprocess(const Compiler& compiler);
 
  Errors compile(const Compiler& compiler);
 
  Errors postprocess(const Body* body, const Compiler& compiler);
 
private:
  double computeVolume() const;
  Eigen::Matrix3d computeInertia() const;
 
  struct Data
  {
    common::optional<std::string> mName;
 
    GeomType mType{GeomType::SPHERE};
 
    int mGroup{0};
 
    Eigen::Vector3d mSize{Eigen::Vector3d::Zero()};
 
    Eigen::Vector4d mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};
 
    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;
  };
 
  Data mData;
 
  std::string mName{""};
 
  GeomType mType{GeomType::SPHERE};
 
  int mGroup{0};
 
  Eigen::Vector3d mSize{Eigen::Vector3d::Constant(0.005)};
 
  Eigen::Vector4d mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};
 
  double mMass;
 
  Eigen::Isometry3d mRelativeTransform{Eigen::Isometry3d::Identity()};
 
  Eigen::Isometry3d mWorldTransform{Eigen::Isometry3d::Identity()};
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_SITE_HPP_