DART  6.10.1
dart::utils::MjcfParser Namespace Reference

Namespaces

 detail
 

Classes

struct  Options
 

Functions

dynamics::BodyNode::Properties createBodyProperties (dart::dynamics::SkeletonPtr skel, const detail::Body &mjcfBody)
 
void createJointCommonProperties (dynamics::Joint::Properties &props, const dynamics::BodyNode *parentBodyNode, const detail::Body &, const detail::Joint &mjcfJoint)
 
dynamics::WeldJoint::Properties createWeldJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &bodyNodeProps, const detail::Body &mjcfBody)
 
dynamics::FreeJoint::Properties createFreeJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
 
dynamics::BallJoint::Properties createBallJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
 
dynamics::PrismaticJoint::Properties createPrismaticJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
 
dynamics::RevoluteJoint::Properties createRevoluteJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
 
std::pair< dynamics::Joint *, dynamics::BodyNode * > createJointAndBodyNodePairForMultipleJoints (dynamics::SkeletonPtr skel, dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &bodyProps, const detail::Body &mjcfBody)
 
template<typename GeomOrSite >
dynamics::ShapePtr createShape (const GeomOrSite &geomOrSite)
 
dynamics::ShapePtr createShape (const detail::Geom &geom, const detail::Asset &mjcfAsset)
 
bool createShapeNodes (dynamics::BodyNode *bodyNode, const detail::Body &mjcfBody, const detail::Asset &mjcfAsset)
 
bool populateSkeletonRecurse (dynamics::SkeletonPtr skel, dynamics::BodyNode *parentBodyNode, const detail::Body &mjcfBody, const detail::Asset &mjcfAsset)
 
dynamics::SkeletonPtr createSkeleton (const detail::Body &mjcfBody, const detail::Asset &mjcfAsset)
 
simulation::WorldPtr createWorld (const detail::MujocoModel &mujoco, const Options &options)
 
dynamics::BodyNodegetUniqueBodyOrNull (const simulation::World &world, const std::string &name)
 
simulation::WorldPtr readWorld (const common::Uri &uri, const Options &options=Options())
 Reads World from MJCF model file. More...
 

Function Documentation

◆ createBallJointProperties()

dynamics::BallJoint::Properties dart::utils::MjcfParser::createBallJointProperties ( const dynamics::BodyNode parentBodyNode,
const dynamics::BodyNode::Properties ,
const detail::Body mjcfBody,
const detail::Joint mjcfJoint 
)

◆ createBodyProperties()

dynamics::BodyNode::Properties dart::utils::MjcfParser::createBodyProperties ( dart::dynamics::SkeletonPtr  skel,
const detail::Body mjcfBody 
)

◆ createFreeJointProperties()

dynamics::FreeJoint::Properties dart::utils::MjcfParser::createFreeJointProperties ( const dynamics::BodyNode parentBodyNode,
const dynamics::BodyNode::Properties ,
const detail::Body mjcfBody,
const detail::Joint mjcfJoint 
)

◆ createJointAndBodyNodePairForMultipleJoints()

std::pair<dynamics::Joint*, dynamics::BodyNode*> dart::utils::MjcfParser::createJointAndBodyNodePairForMultipleJoints ( dynamics::SkeletonPtr  skel,
dynamics::BodyNode parentBodyNode,
const dynamics::BodyNode::Properties bodyProps,
const detail::Body mjcfBody 
)

◆ createJointCommonProperties()

void dart::utils::MjcfParser::createJointCommonProperties ( dynamics::Joint::Properties props,
const dynamics::BodyNode parentBodyNode,
const detail::Body ,
const detail::Joint mjcfJoint 
)

◆ createPrismaticJointProperties()

dynamics::PrismaticJoint::Properties dart::utils::MjcfParser::createPrismaticJointProperties ( const dynamics::BodyNode parentBodyNode,
const dynamics::BodyNode::Properties ,
const detail::Body mjcfBody,
const detail::Joint mjcfJoint 
)

◆ createRevoluteJointProperties()

dynamics::RevoluteJoint::Properties dart::utils::MjcfParser::createRevoluteJointProperties ( const dynamics::BodyNode parentBodyNode,
const dynamics::BodyNode::Properties ,
const detail::Body mjcfBody,
const detail::Joint mjcfJoint 
)

◆ createShape() [1/2]

dynamics::ShapePtr dart::utils::MjcfParser::createShape ( const detail::Geom geom,
const detail::Asset mjcfAsset 
)

◆ createShape() [2/2]

template<typename GeomOrSite >
dynamics::ShapePtr dart::utils::MjcfParser::createShape ( const GeomOrSite &  geomOrSite)

◆ createShapeNodes()

bool dart::utils::MjcfParser::createShapeNodes ( dynamics::BodyNode bodyNode,
const detail::Body mjcfBody,
const detail::Asset mjcfAsset 
)

◆ createSkeleton()

dynamics::SkeletonPtr dart::utils::MjcfParser::createSkeleton ( const detail::Body mjcfBody,
const detail::Asset mjcfAsset 
)

◆ createWeldJointProperties()

dynamics::WeldJoint::Properties dart::utils::MjcfParser::createWeldJointProperties ( const dynamics::BodyNode parentBodyNode,
const dynamics::BodyNode::Properties bodyNodeProps,
const detail::Body mjcfBody 
)

◆ createWorld()

simulation::WorldPtr dart::utils::MjcfParser::createWorld ( const detail::MujocoModel mujoco,
const Options options 
)

◆ getUniqueBodyOrNull()

dynamics::BodyNode* dart::utils::MjcfParser::getUniqueBodyOrNull ( const simulation::World world,
const std::string &  name 
)

◆ populateSkeletonRecurse()

bool dart::utils::MjcfParser::populateSkeletonRecurse ( dynamics::SkeletonPtr  skel,
dynamics::BodyNode parentBodyNode,
const detail::Body mjcfBody,
const detail::Asset mjcfAsset 
)

◆ readWorld()

simulation::WorldPtr dart::utils::MjcfParser::readWorld ( const common::Uri uri,
const Options options = Options() 
)

Reads World from MJCF model file.

Parameters
[in]uriURI to the XML file
[in]retrieverOrNullRetriever to acquire the XML file from uri
Returns
Parsed world.
Warning
This MJCF model parser is experimental and not complete implementation of the spec.