dart::utils::MjcfParser::detail::Geom Class Reference

#include <Geom.hpp>

Public Member Functions
	Geom ()=default
	Default constructor. More...
Attributes
const std::string &	getName () const
GeomType	getType () const
int	getConType () const
int	getConAffinity () const
int	getConDim () const
int	getGroup () const
int	getPriority () const
const Eigen::Vector3d &	getSize () const
Eigen::Vector2d	getPlaneHalfSize () 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
double	getMass () const
double	getDensity () const
double	getVolume () const
const Eigen::Matrix3d &	getInertia () const
double	getSolMix () const
double	getMargine () const
double	getGap () const
void	setRelativeTransform (const Eigen::Isometry3d &tf)
const Eigen::Isometry3d &	getRelativeTransform () const
void	setWorldTransform (const Eigen::Isometry3d &tf)
const Eigen::Isometry3d &	getWorldTransform () const
const std::string &	getHField () const
const std::string &	getMesh () const

Private Member Functions
Errors	read (tinyxml2::XMLElement *element, const Defaults &defaults, const GeomAttributes &defaultAttributes)
Errors	preprocess (const Compiler &compiler)
	Updates attributes and elements that doesn't require any other elements. More...
Errors	compile (const Compiler &compiler)
	Updates attributes and elements that require the preprocessed child elements of this <geom>. More...
Errors	postprocess (const Body *body, const Compiler &compiler)
	Updates attributes and elements that require the compiled parent element. More...
double	computeVolume () const
Eigen::Matrix3d	computeInertia () const

Private Attributes
GeomAttributes	mAttributes
std::string	mName {""}
	Name of the geom. More...
GeomType	mType {GeomType::SPHERE}
	Type of geometric shape. More...
int	mConType {1}
int	mConAffinity {1}
int	mConDim {3}
int	mGroup {0}
int	mPriority {0}
Eigen::Vector3d	mSize {Eigen::Vector3d::Zero()}
	Geom size parameters. More...
Eigen::Vector4d	mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}
Eigen::Vector3d	mFriction {Eigen::Vector3d(1, 0.005, 0.0001)}
double	mMass
double	mDensity {1000}
	Material density used to compute the geom mass and inertia. More...
double	mVolume {0}
Eigen::Matrix3d	mInertia {Eigen::Matrix3d::Identity()}
double	mSolMix {1}
	Weight used for averaging of contact parameters, and interacts with the priority attribute. More...
double	mMargin {0}
	Distance threshold below which contacts are detected and included in the global array mjData.contact. More...
double	mGap {0}
	This attribute is used to enable the generation of inactive contacts, i.e. More...
Eigen::Isometry3d	mRelativeTransform {Eigen::Isometry3d::Identity()}
Eigen::Isometry3d	mWorldTransform {Eigen::Isometry3d::Identity()}
std::string	mHField
std::string	mMesh
double	mFitScale {1}

Friends
class	Body
class	Worldbody

Constructor & Destructor Documentation

Geom()

dart::utils::MjcfParser::detail::Geom::Geom ( )

default

Default constructor.

Member Function Documentation

compile()

Errors dart::utils::MjcfParser::detail::Geom::compile ( const Compiler &  compiler )

private

Updates attributes and elements that require the preprocessed child elements of this <geom>.

computeInertia()

Eigen::Matrix3d dart::utils::MjcfParser::detail::Geom::computeInertia ( ) const

private

computeVolume()

double dart::utils::MjcfParser::detail::Geom::computeVolume ( ) const

private

getBoxHalfSize()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Geom::getBoxHalfSize

(

)

const

getBoxSize()

Eigen::Vector3d dart::utils::MjcfParser::detail::Geom::getBoxSize

(

)

const

getCapsuleHalfLength()

double dart::utils::MjcfParser::detail::Geom::getCapsuleHalfLength

(

)

const

getCapsuleLength()

double dart::utils::MjcfParser::detail::Geom::getCapsuleLength

(

)

const

getCapsuleRadius()

double dart::utils::MjcfParser::detail::Geom::getCapsuleRadius

(

)

const

getConAffinity()

int dart::utils::MjcfParser::detail::Geom::getConAffinity

(

)

const

getConDim()

int dart::utils::MjcfParser::detail::Geom::getConDim

(

)

const

getConType()

int dart::utils::MjcfParser::detail::Geom::getConType

(

)

const

getCylinderHalfLength()

double dart::utils::MjcfParser::detail::Geom::getCylinderHalfLength

(

)

const

getCylinderLength()

double dart::utils::MjcfParser::detail::Geom::getCylinderLength

(

)

const

getCylinderRadius()

double dart::utils::MjcfParser::detail::Geom::getCylinderRadius

(

)

const

getDensity()

double dart::utils::MjcfParser::detail::Geom::getDensity

(

)

const

getEllipsoidDiameters()

Eigen::Vector3d dart::utils::MjcfParser::detail::Geom::getEllipsoidDiameters

(

)

const

getEllipsoidRadii()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Geom::getEllipsoidRadii

(

)

const

getFriction()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Geom::getFriction

(

)

const

getGap()

double dart::utils::MjcfParser::detail::Geom::getGap

(

)

const

getGroup()

int dart::utils::MjcfParser::detail::Geom::getGroup

(

)

const

getHField()

const std::string & dart::utils::MjcfParser::detail::Geom::getHField

(

)

const

getInertia()

const Eigen::Matrix3d & dart::utils::MjcfParser::detail::Geom::getInertia

(

)

const

getMargine()

double dart::utils::MjcfParser::detail::Geom::getMargine

(

)

const

getMass()

double dart::utils::MjcfParser::detail::Geom::getMass

(

)

const

getMesh()

const std::string & dart::utils::MjcfParser::detail::Geom::getMesh

(

)

const

getName()

const std::string & dart::utils::MjcfParser::detail::Geom::getName

(

)

const

getPlaneHalfSize()

Eigen::Vector2d dart::utils::MjcfParser::detail::Geom::getPlaneHalfSize

(

)

const

getPriority()

int dart::utils::MjcfParser::detail::Geom::getPriority

(

)

const

getRelativeTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Geom::getRelativeTransform

(

)

const

getRGBA()

const Eigen::Vector4d & dart::utils::MjcfParser::detail::Geom::getRGBA

(

)

const

getSize()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Geom::getSize

(

)

const

getSolMix()

double dart::utils::MjcfParser::detail::Geom::getSolMix

(

)

const

getSphereRadius()

double dart::utils::MjcfParser::detail::Geom::getSphereRadius

(

)

const

getType()

GeomType dart::utils::MjcfParser::detail::Geom::getType

(

)

const

getVolume()

double dart::utils::MjcfParser::detail::Geom::getVolume

(

)

const

getWorldTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Geom::getWorldTransform

(

)

const

postprocess()

Errors dart::utils::MjcfParser::detail::Geom::postprocess ( const Body *  body, const Compiler &  compiler  )

private

Updates attributes and elements that require the compiled parent element.

preprocess()

Errors dart::utils::MjcfParser::detail::Geom::preprocess ( const Compiler &  compiler )

private

Updates attributes and elements that doesn't require any other elements.

read()

Errors dart::utils::MjcfParser::detail::Geom::read ( tinyxml2::XMLElement *  element, const Defaults &  defaults, const GeomAttributes &  defaultAttributes  )

private

setRelativeTransform()

void dart::utils::MjcfParser::detail::Geom::setRelativeTransform

(

const Eigen::Isometry3d &

tf

)

setWorldTransform()

void dart::utils::MjcfParser::detail::Geom::setWorldTransform

(

const Eigen::Isometry3d &

tf

)

Friends And Related Function Documentation

Body

friend class Body

friend

Worldbody

friend class Worldbody

friend

Member Data Documentation

mAttributes

GeomAttributes dart::utils::MjcfParser::detail::Geom::mAttributes

private

mConAffinity

int dart::utils::MjcfParser::detail::Geom::mConAffinity {1}

private

mConDim

int dart::utils::MjcfParser::detail::Geom::mConDim {3}

private

mConType

int dart::utils::MjcfParser::detail::Geom::mConType {1}

private

mDensity

double dart::utils::MjcfParser::detail::Geom::mDensity {1000}

private

Material density used to compute the geom mass and inertia.

mFitScale

double dart::utils::MjcfParser::detail::Geom::mFitScale {1}

private

mFriction

Eigen::Vector3d dart::utils::MjcfParser::detail::Geom::mFriction {Eigen::Vector3d(1, 0.005, 0.0001)}

private

mGap

double dart::utils::MjcfParser::detail::Geom::mGap {0}

private

This attribute is used to enable the generation of inactive contacts, i.e.

contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations.

mGroup

int dart::utils::MjcfParser::detail::Geom::mGroup {0}

private

mHField

std::string dart::utils::MjcfParser::detail::Geom::mHField

private

mInertia

Eigen::Matrix3d dart::utils::MjcfParser::detail::Geom::mInertia {Eigen::Matrix3d::Identity()}

private

mMargin

double dart::utils::MjcfParser::detail::Geom::mMargin {0}

private

Distance threshold below which contacts are detected and included in the global array mjData.contact.

mMass

double dart::utils::MjcfParser::detail::Geom::mMass

private

mMesh

std::string dart::utils::MjcfParser::detail::Geom::mMesh

private

mName

std::string dart::utils::MjcfParser::detail::Geom::mName {""}

private

Name of the geom.

mPriority

int dart::utils::MjcfParser::detail::Geom::mPriority {0}

private

mRelativeTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Geom::mRelativeTransform {Eigen::Isometry3d::Identity()}

private

mRGBA

Eigen::Vector4d dart::utils::MjcfParser::detail::Geom::mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}

private

mSize

Eigen::Vector3d dart::utils::MjcfParser::detail::Geom::mSize {Eigen::Vector3d::Zero()}

private

Geom size parameters.

mSolMix

double dart::utils::MjcfParser::detail::Geom::mSolMix {1}

private

Weight used for averaging of contact parameters, and interacts with the priority attribute.

mType

GeomType dart::utils::MjcfParser::detail::Geom::mType {GeomType::SPHERE}

private

Type of geometric shape.

mVolume

double dart::utils::MjcfParser::detail::Geom::mVolume {0}

private

mWorldTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Geom::mWorldTransform {Eigen::Isometry3d::Identity()}

private