DART  6.10.1
Body.hpp
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32 
33 #ifndef DART_UTILS_MJCF_DETAIL_BODY_HPP_
34 #define DART_UTILS_MJCF_DETAIL_BODY_HPP_
35 
36 #include <tinyxml2.h>
37 
38 #include "dart/utils/mjcf/detail/BodyAttributes.hpp"
39 #include "dart/utils/mjcf/detail/Compiler.hpp"
40 #include "dart/utils/mjcf/detail/Error.hpp"
41 #include "dart/utils/mjcf/detail/Geom.hpp"
42 #include "dart/utils/mjcf/detail/Inertial.hpp"
43 #include "dart/utils/mjcf/detail/Joint.hpp"
44 #include "dart/utils/mjcf/detail/Site.hpp"
45 
46 namespace dart {
47 namespace utils {
48 namespace MjcfParser {
49 namespace detail {
50 
51 class Size;
52 
53 class Body final
54 {
55 public:
57  Body() = default;
58 
60 
62  const std::string& getName() const;
63 
65  bool getMocap() const;
66 
68  void setRelativeTransform(const Eigen::Isometry3d& tf);
69 
71  const Eigen::Isometry3d& getRelativeTransform() const;
72 
74  void setWorldTransform(const Eigen::Isometry3d& tf);
75 
77  const Eigen::Isometry3d& getWorldTransform() const;
78 
80 
82 
88  const Inertial& getInertial() const;
89 
91  std::size_t getNumJoints() const;
92 
94  const Joint& getJoint(std::size_t index) const;
95 
97  std::size_t getNumChildBodies() const;
98 
100  const Body& getChildBody(std::size_t index) const;
101 
103  std::size_t getNumGeoms() const;
104 
106  const Geom& getGeom(std::size_t index) const;
107 
109  std::size_t getNumSites() const;
110 
112  const Site& getSite(std::size_t index) const;
113 
115 
116 private:
117  // Private members used by Worldbody class
118  friend class Worldbody;
119  Errors read(
120  tinyxml2::XMLElement* element,
121  const common::optional<Size>& size,
122  const Defaults& defaults,
123  const Default* currentDefault);
124 
126  Errors preprocess(const Compiler& compiler);
127 
130  Errors compile(const Compiler& compiler);
131 
133  Errors postprocess(const Body* body, const Compiler& compiler);
134 
135 private:
136  Inertial computeInertialFromGeoms(
137  const std::vector<Geom>& geoms, const Compiler& compiler);
138 
139  BodyAttributes mAttributes;
140 
142  std::string mName{""};
143 
145  bool mMocap{false};
146 
147  Eigen::Isometry3d mRelativeTransform{Eigen::Isometry3d::Identity()};
148 
149  Eigen::Isometry3d mWorldTransform{Eigen::Isometry3d::Identity()};
150 
151  Eigen::VectorXd mUser;
152 
153  Inertial mInertial;
154 
155  std::vector<Joint> mJoints;
156  std::vector<Body> mChildBodies;
157  std::vector<Geom> mGeoms;
158  std::vector<Site> mSites;
159 };
160 
161 } // namespace detail
162 } // namespace MjcfParser
163 } // namespace utils
164 } // namespace dart
165 
166 #endif // #ifndef DART_UTILS_MJCF_DETAIL_BODY_HPP_
index
std::size_t index
Definition: SkelParser.cpp:1672
dart::utils::MjcfParser::detail::Body::getNumJoints
std::size_t getNumJoints() const
Returns the number of <joint> elements.
Definition: Body.cpp:352
dart::utils::MjcfParser::detail::Body::mWorldTransform
Eigen::Isometry3d mWorldTransform
Definition: Body.hpp:149
dart::utils::MjcfParser::detail::Body::getWorldTransform
const Eigen::Isometry3d & getWorldTransform() const
Returns the world transform of this <body>.
Definition: Body.cpp:420
dart::utils::MjcfParser::detail::Body::mMocap
bool mMocap
If this attribute is "true", the body is labeled as a mocap body.
Definition: Body.hpp:145
dart::utils::MjcfParser::detail::Body::getNumSites
std::size_t getNumSites() const
Returns the number of <site> elements.
Definition: Body.cpp:388
dart::utils::MjcfParser::detail::Body::compile
Errors compile(const Compiler &compiler)
Updates attributes and elements that require the preprocessed child elements of this <body>.
Definition: Body.cpp:186
dart::utils::MjcfParser::detail::Body::getNumChildBodies
std::size_t getNumChildBodies() const
Returns the number of child <body> elements.
Definition: Body.cpp:364
dart::utils::MjcfParser::detail::Body::mChildBodies
std::vector< Body > mChildBodies
Definition: Body.hpp:156
dart::utils::MjcfParser::detail::Body::getChildBody
const Body & getChildBody(std::size_t index) const
Returns a child <body> element at index.
Definition: Body.cpp:370
dart::utils::MjcfParser::detail::Body::getGeom
const Geom & getGeom(std::size_t index) const
Returns a <geom> element at index.
Definition: Body.cpp:382
dart::utils::MjcfParser::detail::Body::getSite
const Site & getSite(std::size_t index) const
Returns a <site> element at index.
Definition: Body.cpp:394
dart::utils::MjcfParser::detail::Body::getJoint
const Joint & getJoint(std::size_t index) const
Returns a <joint> element at index.
Definition: Body.cpp:358
dart::utils::MjcfParser::detail::Body::mRelativeTransform
Eigen::Isometry3d mRelativeTransform
Definition: Body.hpp:147
dart::utils::MjcfParser::detail::Body::mName
std::string mName
Name of the body.
Definition: Body.hpp:142
dart::utils::MjcfParser::detail::Body::mJoints
std::vector< Joint > mJoints
Definition: Body.hpp:155
dart::utils::MjcfParser::detail::Body::mAttributes
BodyAttributes mAttributes
Definition: Body.hpp:139
dart::utils::MjcfParser::detail::Body::mUser
Eigen::VectorXd mUser
Definition: Body.hpp:151
dart::utils::MjcfParser::detail::Body::mInertial
Inertial mInertial
Definition: Body.hpp:153
dart::utils::MjcfParser::detail::Body::getName
const std::string & getName() const
Returns 'name' attribute.
Definition: Body.cpp:334
dart::utils::MjcfParser::detail::Body::getRelativeTransform
const Eigen::Isometry3d & getRelativeTransform() const
Returns the transform relative to the parent <body> or <worldbody>.
Definition: Body.cpp:407
dart::utils::MjcfParser::detail::Body::mSites
std::vector< Site > mSites
Definition: Body.hpp:158
dart::utils::MjcfParser::detail::Body::getMocap
bool getMocap() const
Returns 'mocap' attribute.
Definition: Body.cpp:340
dart::utils::MjcfParser::detail::Body::setWorldTransform
void setWorldTransform(const Eigen::Isometry3d &tf)
Sets the world transform of this <body>.
Definition: Body.cpp:413
dart::utils::MjcfParser::detail::Body::Body
Body()=default
Default constructor.
dart::utils::MjcfParser::detail::Body::getNumGeoms
std::size_t getNumGeoms() const
Returns the number of <geom> elements.
Definition: Body.cpp:376
dart::utils::MjcfParser::detail::Body::read
Errors read(tinyxml2::XMLElement *element, const common::optional< Size > &size, const Defaults &defaults, const Default *currentDefault)
Definition: Body.cpp:47
dart::utils::MjcfParser::detail::Body::postprocess
Errors postprocess(const Body *body, const Compiler &compiler)
Updates attributes and elements that require the compiled parent element.
Definition: Body.cpp:245
dart::utils::MjcfParser::detail::Body::preprocess
Errors preprocess(const Compiler &compiler)
Updates attributes and elements that doesn't require any other elements.
Definition: Body.cpp:141
dart::utils::MjcfParser::detail::Body::mGeoms
std::vector< Geom > mGeoms
Definition: Body.hpp:157
dart::utils::MjcfParser::detail::Body::setRelativeTransform
void setRelativeTransform(const Eigen::Isometry3d &tf)
Sets the transform relative to the parent <body> or <worldbody>.
Definition: Body.cpp:400
dart::utils::MjcfParser::detail::Body::getInertial
const Inertial & getInertial() const
Returns <inertial> element.
Definition: Body.cpp:346
dart::utils::MjcfParser::detail::Body::computeInertialFromGeoms
Inertial computeInertialFromGeoms(const std::vector< Geom > &geoms, const Compiler &compiler)
Definition: Body.cpp:426
dart::utils::MjcfParser::detail::Worldbody
Definition: Worldbody.hpp:54
dart::common::optional
boost::optional< T > optional
Definition: Optional.hpp:50
dart::utils::MjcfParser::detail::Errors
std::vector< Error > Errors
Definition: Error.hpp:85
dart
Definition: BulletCollisionDetector.cpp:65
dart::utils::MjcfParser::detail::BodyAttributes
Intermediate raw data read from the XML file.
Definition: BodyAttributes.hpp:56