DART  6.10.1
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 
41 #include "dart/utils/mjcf/detail/Body.hpp"
42 #include "dart/utils/mjcf/detail/Compiler.hpp"
43 #include "dart/utils/mjcf/detail/Error.hpp"
44 #include "dart/utils/mjcf/detail/Geom.hpp"
45 #include "dart/utils/mjcf/detail/Site.hpp"
46 #include "dart/utils/mjcf/detail/Size.hpp"
47 
48 namespace dart {
49 namespace utils {
50 namespace MjcfParser {
51 namespace detail {
52 
53 class Worldbody final
54 {
55 public:
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 
77 private:
78  // Private memebers used by MujocoModel class
79  friend class MujocoModel;
80  Errors read(
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 
98 private:
99  common::optional<std::string> mChildClass;
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_
index
std::size_t index
Definition: SkelParser.cpp:1672
dart::utils::MjcfParser::detail::MujocoModel
Main class to parse MJCF model file.
Definition: MujocoModel.hpp:56
dart::utils::MjcfParser::detail::Worldbody
Definition: Worldbody.hpp:54
dart::utils::MjcfParser::detail::Worldbody::mGeoms
std::vector< Geom > mGeoms
Definition: Worldbody.hpp:100
dart::utils::MjcfParser::detail::Worldbody::Worldbody
Worldbody()=default
Default constructor.
dart::utils::MjcfParser::detail::Worldbody::getRootBody
const Body & getRootBody(std::size_t index) const
Returns a root <body> elements at index in <worldbody>.
Definition: Worldbody.cpp:225
dart::utils::MjcfParser::detail::Worldbody::compile
Errors compile(const Compiler &compiler)
Updates attributes and elements that require the preprocessed child elements of this <worldbody>.
Definition: Worldbody.cpp:155
dart::utils::MjcfParser::detail::Worldbody::getGeom
const Geom & getGeom(std::size_t index) const
Returns a root <geom> element at index in <worldbody>.
Definition: Worldbody.cpp:201
dart::utils::MjcfParser::detail::Worldbody::mRootBodies
std::vector< Body > mRootBodies
Definition: Worldbody.hpp:102
dart::utils::MjcfParser::detail::Worldbody::getSite
const Site & getSite(std::size_t index) const
Returns a root <site> element at index in <worldbody>.
Definition: Worldbody.cpp:213
dart::utils::MjcfParser::detail::Worldbody::mChildClass
common::optional< std::string > mChildClass
Definition: Worldbody.hpp:99
dart::utils::MjcfParser::detail::Worldbody::getNumSites
std::size_t getNumSites() const
Returns the number of <site> elements in <worldbody>.
Definition: Worldbody.cpp:207
dart::utils::MjcfParser::detail::Worldbody::preprocess
Errors preprocess(const Compiler &compiler)
Updates attributes and elements that doesn't require any other elements.
Definition: Worldbody.cpp:135
dart::utils::MjcfParser::detail::Worldbody::postprocess
Errors postprocess(const Compiler &compiler)
Updates attributes and elements that require the compiled parent element.
Definition: Worldbody.cpp:175
dart::utils::MjcfParser::detail::Worldbody::getNumGeoms
std::size_t getNumGeoms() const
Returns the number of <geom> elements in <worldbody>.
Definition: Worldbody.cpp:195
dart::utils::MjcfParser::detail::Worldbody::mSites
std::vector< Site > mSites
Definition: Worldbody.hpp:101
dart::utils::MjcfParser::detail::Worldbody::read
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
dart::utils::MjcfParser::detail::Worldbody::getNumRootBodies
std::size_t getNumRootBodies() const
Returns the number of root <body> elements in <worldbody>.
Definition: Worldbody.cpp:219
dart::common::ResourceRetrieverPtr
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition: ResourceRetriever.hpp:76
dart::common::optional
boost::optional< T > optional
Definition: Optional.hpp:50
dart::utils::MjcfParser::detail::Errors
std::vector< Error > Errors
Definition: Error.hpp:85
dart
Definition: BulletCollisionDetector.cpp:65
dart::common::Uri
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition: Uri.hpp:87