DART 6.10.1
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Worldbody.hpp
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32
33#ifndef DART_UTILS_MJCF_DETAIL_WORLDBODY_HPP_
34#define DART_UTILS_MJCF_DETAIL_WORLDBODY_HPP_
35
36#include <string>
37#include <vector>
38
39#include <tinyxml2.h>
40
47
48namespace dart {
49namespace utils {
50namespace MjcfParser {
51namespace detail {
52
53class Worldbody final
54{
55public:
57 Worldbody() = default;
58
60 std::size_t getNumRootBodies() const;
61
63 const Body& getRootBody(std::size_t index) const;
64
66 std::size_t getNumGeoms() const;
67
69 const Geom& getGeom(std::size_t index) const;
70
72 std::size_t getNumSites() const;
73
75 const Site& getSite(std::size_t index) const;
76
77private:
78 // Private memebers used by MujocoModel class
79 friend class MujocoModel;
81 tinyxml2::XMLElement* element,
82 const common::optional<Size>& size,
83 const Defaults& defaults,
84 const Default* currentDefault,
85 const common::Uri& baseUri,
86 const common::ResourceRetrieverPtr& retriever);
87
89 Errors preprocess(const Compiler& compiler);
90
93 Errors compile(const Compiler& compiler);
94
96 Errors postprocess(const Compiler& compiler);
97
98private:
100 std::vector<Geom> mGeoms;
101 std::vector<Site> mSites;
102 std::vector<Body> mRootBodies;
103};
104
105} // namespace detail
106} // namespace MjcfParser
107} // namespace utils
108} // namespace dart
109
110#endif // #ifndef DART_UTILS_MJCF_DETAIL_WORLDBODY_HPP_
std::size_t index
Definition SkelParser.cpp:1672
Main class to parse MJCF model file.
Definition MujocoModel.hpp:56
std::vector< Geom > mGeoms
Definition Worldbody.hpp:100
Worldbody()=default
Default constructor.
const Body & getRootBody(std::size_t index) const
Returns a root <body> elements at index in <worldbody>.
Definition Worldbody.cpp:225
Errors compile(const Compiler &compiler)
Updates attributes and elements that require the preprocessed child elements of this <worldbody>.
Definition Worldbody.cpp:155
const Geom & getGeom(std::size_t index) const
Returns a root <geom> element at index in <worldbody>.
Definition Worldbody.cpp:201
std::vector< Body > mRootBodies
Definition Worldbody.hpp:102
const Site & getSite(std::size_t index) const
Returns a root <site> element at index in <worldbody>.
Definition Worldbody.cpp:213
common::optional< std::string > mChildClass
Definition Worldbody.hpp:99
std::size_t getNumSites() const
Returns the number of <site> elements in <worldbody>.
Definition Worldbody.cpp:207
Errors preprocess(const Compiler &compiler)
Updates attributes and elements that doesn't require any other elements.
Definition Worldbody.cpp:135
Errors postprocess(const Compiler &compiler)
Updates attributes and elements that require the compiled parent element.
Definition Worldbody.cpp:175
std::size_t getNumGeoms() const
Returns the number of <geom> elements in <worldbody>.
Definition Worldbody.cpp:195
std::vector< Site > mSites
Definition Worldbody.hpp:101
Errors read(tinyxml2::XMLElement *element, const common::optional< Size > &size, const Defaults &defaults, const Default *currentDefault, const common::Uri &baseUri, const common::ResourceRetrieverPtr &retriever)
Definition Worldbody.cpp:46
std::size_t getNumRootBodies() const
Returns the number of root <body> elements in <worldbody>.
Definition Worldbody.cpp:219
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition ResourceRetriever.hpp:76
boost::optional< T > optional
Definition Optional.hpp:50
std::vector< Error > Errors
Definition Error.hpp:85
Definition BulletCollisionDetector.cpp:65
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition Uri.hpp:87