Utils.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_UTILS_HPP_
#define DART_UTILS_MJCF_DETAIL_UTILS_HPP_
 
#include <Eigen/Core>
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/simulation/World.hpp"
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
Errors checkOrientationValidity(const tinyxml2::XMLElement* element);
 
Eigen::Matrix3d compileRotation(
    const Eigen::Quaterniond& quat,
    const common::optional<Eigen::Vector4d>& axisAngle,
    const common::optional<Eigen::Vector3d>& euler,
    const common::optional<Eigen::Vector6d>& xyAxes,
    const common::optional<Eigen::Vector3d>& zAxis,
    const Compiler& compiler);
 
Errors handleInclude(
    tinyxml2::XMLElement* element,
    const common::Uri& baseUri,
    const common::ResourceRetrieverPtr& retriever);
 
std::vector<dynamics::BodyNode*> getBodyNodes(
    const simulation::World& world, const std::string& name);
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_UTILS_HPP_