#include <Body.hpp>

Public Member Functions
	Body ()=default
	Default constructor. More...

Attributes
const std::string &	getName () const
	Returns 'name' attribute. More...

bool	getMocap () const
	Returns 'mocap' attribute. More...

void	setRelativeTransform (const Eigen::Isometry3d &tf)
	Sets the transform relative to the parent <body> or <worldbody>. More...

const Eigen::Isometry3d &	getRelativeTransform () const
	Returns the transform relative to the parent <body> or <worldbody>. More...

void	setWorldTransform (const Eigen::Isometry3d &tf)
	Sets the world transform of this <body>. More...

const Eigen::Isometry3d &	getWorldTransform () const
	Returns the world transform of this <body>. More...

Child elements
const Inertial &	getInertial () const
	Returns <inertial> element. More...

std::size_t	getNumJoints () const
	Returns the number of <joint> elements. More...

const Joint &	getJoint (std::size_t index) const
	Returns a <joint> element at `index`. More...

std::size_t	getNumChildBodies () const
	Returns the number of child <body> elements. More...

const Body &	getChildBody (std::size_t index) const
	Returns a child <body> element at `index`. More...

std::size_t	getNumGeoms () const
	Returns the number of <geom> elements. More...

const Geom &	getGeom (std::size_t index) const
	Returns a <geom> element at `index`. More...

std::size_t	getNumSites () const
	Returns the number of <site> elements. More...

const Site &	getSite (std::size_t index) const
	Returns a <site> element at `index`. More...

Private Member Functions
Errors	read (tinyxml2::XMLElement element, const common::optional< Size > &size, const Defaults &defaults, const Default currentDefault)

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 <body>. More...

Errors	postprocess (const Body *body, const Compiler &compiler)
	Updates attributes and elements that require the compiled parent element. More...

Inertial	computeInertialFromGeoms (const std::vector< Geom > &geoms, const Compiler &compiler)

Private Attributes
BodyAttributes	mAttributes

std::string	mName {""}
	Name of the body. More...

bool	mMocap {false}
	If this attribute is "true", the body is labeled as a mocap body. More...

Eigen::Isometry3d	mRelativeTransform {Eigen::Isometry3d::Identity()}

Eigen::Isometry3d	mWorldTransform {Eigen::Isometry3d::Identity()}

Eigen::VectorXd	mUser

Inertial	mInertial

std::vector< Joint >	mJoints

std::vector< Body >	mChildBodies

std::vector< Geom >	mGeoms

std::vector< Site >	mSites

Friends
class	Worldbody

Constructor & Destructor Documentation

◆ Body()

dart::utils::MjcfParser::detail::Body::Body ( )

default

Default constructor.

Member Function Documentation

◆ compile()

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

private

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

◆ computeInertialFromGeoms()

Inertial dart::utils::MjcfParser::detail::Body::computeInertialFromGeoms	(	const std::vector< Geom > &	geoms,
		const Compiler &	compiler
	)

private

◆ getChildBody()

const Body & dart::utils::MjcfParser::detail::Body::getChildBody ( std::size_t index ) const

Returns a child <body> element at index.

◆ getGeom()

const Geom & dart::utils::MjcfParser::detail::Body::getGeom ( std::size_t index ) const

Returns a <geom> element at index.

◆ getInertial()

const Inertial & dart::utils::MjcfParser::detail::Body::getInertial ( ) const

Returns <inertial> element.

When <inertial> element is not specified in the XML file, then it's inferred from <geom> elements. If both of <inertial> and <inertial> are missing, then the parser must be failed to parse the file.

◆ getJoint()

const Joint & dart::utils::MjcfParser::detail::Body::getJoint ( std::size_t index ) const

Returns a <joint> element at index.

◆ getMocap()

bool dart::utils::MjcfParser::detail::Body::getMocap ( ) const

Returns 'mocap' attribute.

◆ getName()

const std::string & dart::utils::MjcfParser::detail::Body::getName ( ) const

Returns 'name' attribute.

◆ getNumChildBodies()

std::size_t dart::utils::MjcfParser::detail::Body::getNumChildBodies ( ) const

Returns the number of child <body> elements.

◆ getNumGeoms()

std::size_t dart::utils::MjcfParser::detail::Body::getNumGeoms ( ) const

Returns the number of <geom> elements.

◆ getNumJoints()

std::size_t dart::utils::MjcfParser::detail::Body::getNumJoints ( ) const

Returns the number of <joint> elements.

◆ getNumSites()

std::size_t dart::utils::MjcfParser::detail::Body::getNumSites ( ) const

Returns the number of <site> elements.

◆ getRelativeTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Body::getRelativeTransform ( ) const

Returns the transform relative to the parent <body> or <worldbody>.

◆ getSite()

const Site & dart::utils::MjcfParser::detail::Body::getSite ( std::size_t index ) const

Returns a <site> element at index.

◆ getWorldTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Body::getWorldTransform ( ) const

Returns the world transform of this <body>.

◆ postprocess()

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

private

Updates attributes and elements that require the compiled parent element.

◆ preprocess()

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

private

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

◆ read()

Errors dart::utils::MjcfParser::detail::Body::read	(	tinyxml2::XMLElement *	element,
		const common::optional< Size > &	size,
		const Defaults &	defaults,
		const Default *	currentDefault
	)

private

◆ setRelativeTransform()

void dart::utils::MjcfParser::detail::Body::setRelativeTransform ( const Eigen::Isometry3d & tf )

Sets the transform relative to the parent <body> or <worldbody>.

◆ setWorldTransform()

void dart::utils::MjcfParser::detail::Body::setWorldTransform ( const Eigen::Isometry3d & tf )

Sets the world transform of this <body>.

Friends And Related Function Documentation

◆ Worldbody

friend class Worldbody

friend

Member Data Documentation

◆ mAttributes

BodyAttributes dart::utils::MjcfParser::detail::Body::mAttributes

private

◆ mChildBodies

std::vector<Body> dart::utils::MjcfParser::detail::Body::mChildBodies

private

◆ mGeoms

std::vector<Geom> dart::utils::MjcfParser::detail::Body::mGeoms

private

◆ mInertial

Inertial dart::utils::MjcfParser::detail::Body::mInertial

private

◆ mJoints

std::vector<Joint> dart::utils::MjcfParser::detail::Body::mJoints

private

◆ mMocap

bool dart::utils::MjcfParser::detail::Body::mMocap {false}

private

If this attribute is "true", the body is labeled as a mocap body.

◆ mName

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

private

Name of the body.

◆ mRelativeTransform

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

private

◆ mSites

std::vector<Site> dart::utils::MjcfParser::detail::Body::mSites

private

◆ mUser

Eigen::VectorXd dart::utils::MjcfParser::detail::Body::mUser

private

◆ mWorldTransform

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

private

Public Member Functions

Private Member Functions

Private Attributes

Friends

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ compile()

◆ computeInertialFromGeoms()

◆ getChildBody()

◆ getGeom()

◆ getInertial()

◆ getJoint()

◆ getMocap()

◆ getName()

◆ getNumChildBodies()

◆ getNumGeoms()

◆ getNumJoints()

◆ getNumSites()

◆ getRelativeTransform()

◆ getSite()

◆ getWorldTransform()

◆ postprocess()

◆ preprocess()

◆ read()

◆ setRelativeTransform()

◆ setWorldTransform()

Friends And Related Function Documentation

◆ Worldbody

Member Data Documentation

◆ mAttributes

◆ mChildBodies

◆ mGeoms

◆ mInertial

◆ mJoints

◆ mMocap

◆ mName

◆ mRelativeTransform

◆ mSites

◆ mUser

◆ mWorldTransform