DART 6.10.1
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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
46namespace dart {
47namespace utils {
48namespace MjcfParser {
49namespace detail {
50
51class Size;
52
53class Body final
54{
55public:
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
116private:
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
135private:
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::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