Weld.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_WELD_HPP_
#define DART_UTILS_MJCF_DETAIL_WELD_HPP_
 
#include <tinyxml2.h>
 
#include "dart/utils/mjcf/detail/Default.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/WeldAttributes.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Weld final
{
public:
  Weld() = default;
 
  const std::string& getName() const;
  bool getActive() const;
  const Eigen::Vector2d& getSolRef() const;
  const Eigen::Matrix<double, 5, 1>& getSolImp() const;
  const std::string& getBody1() const;
  const std::string& getBody2() const;
  const common::optional<Eigen::Isometry3d>& getRelativeTransform() const;
 
private:
  // Private memebers used by MujocoModel class
  friend class Equality;
  Errors read(tinyxml2::XMLElement* element, const Defaults& defaults);
 
private:
  WeldAttributes mAttributes;
 
  std::string mName;
  bool mActive{true};
  Eigen::Vector2d mSolRef;
  Eigen::Matrix<double, 5, 1> mSolImp;
  std::string mBody1;
  std::string mBody2;
  bool mUsePredefinedRelativeTransform{true};
  // Relative transform from body1 to body2
  common::optional<Eigen::Isometry3d> mRelativeTransfrom;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_WELD_HPP_