DART  6.10.1
dart::utils::VskParser::Options Struct Reference

Options struct is additional information that helps building a skeleton that can be used in kinematics or dynamics simulation. More...

#include <VskParser.hpp>

Public Member Functions

 Options (const common::ResourceRetrieverPtr &retrieverOrNullptr=nullptr, const Eigen::Vector3d &defaultEllipsoidSize=Eigen::Vector3d::Constant(0.05), double thicknessRatio=0.35, double density=1e+3, double jointPositionLowerLimit=-math::constantsd::pi(), double jointPositionUpperLimit=+math::constantsd::pi(), double jointDampingCoefficient=0.1, double jointFriction=0.0, bool removeEndBodyNodes=false)
 Constructor. More...
 

Public Attributes

common::ResourceRetrieverPtr retrieverOrNullptr
 Resource retriever. LocalResourceRetriever is used if it's nullptr. More...
 
Eigen::Vector3d defaultEllipsoidSize
 The default shape for body node is ellipsoid. More...
 
double thicknessRatio
 Ratio of shorter radii of each ellipsoid to the longest radius where the longest radius is the distance between a body and its child body node. More...
 
double density
 Density of each ellipsoid that are used to compute mass. More...
 
double jointPositionLowerLimit
 Lower limit of joint position. More...
 
double jointPositionUpperLimit
 Upper limit of joint position. More...
 
double jointDampingCoefficient
 Joint damping coefficient. More...
 
double jointFriction
 Joint Coulomb friction. More...
 
bool removeEndBodyNodes
 Remove end BodyNodes with no Shape segment. More...
 

Detailed Description

Options struct is additional information that helps building a skeleton that can be used in kinematics or dynamics simulation.

VSK file format itself doesn't provide essential properties for it such as body's shape, mass, and inertia.

Constructor & Destructor Documentation

◆ Options()

dart::utils::VskParser::Options::Options ( const common::ResourceRetrieverPtr retrieverOrNullptr = nullptr,
const Eigen::Vector3d &  defaultEllipsoidSize = Eigen::Vector3d::Constant(0.05),
double  thicknessRatio = 0.35,
double  density = 1e+3,
double  jointPositionLowerLimit = -math::constantsd::pi(),
double  jointPositionUpperLimit = +math::constantsd::pi(),
double  jointDampingCoefficient = 0.1,
double  jointFriction = 0.0,
bool  removeEndBodyNodes = false 
)

Constructor.

Member Data Documentation

◆ defaultEllipsoidSize

Eigen::Vector3d dart::utils::VskParser::Options::defaultEllipsoidSize

The default shape for body node is ellipsoid.

The size of ellipsoid of each body node are determined by the relative transformation from a body node and its child body node. defaultEllipsoidSize is used for body nodes that don't have child body node.

◆ density

double dart::utils::VskParser::Options::density

Density of each ellipsoid that are used to compute mass.

◆ jointDampingCoefficient

double dart::utils::VskParser::Options::jointDampingCoefficient

Joint damping coefficient.

◆ jointFriction

double dart::utils::VskParser::Options::jointFriction

Joint Coulomb friction.

◆ jointPositionLowerLimit

double dart::utils::VskParser::Options::jointPositionLowerLimit

Lower limit of joint position.

◆ jointPositionUpperLimit

double dart::utils::VskParser::Options::jointPositionUpperLimit

Upper limit of joint position.

◆ removeEndBodyNodes

bool dart::utils::VskParser::Options::removeEndBodyNodes

Remove end BodyNodes with no Shape segment.

◆ retrieverOrNullptr

common::ResourceRetrieverPtr dart::utils::VskParser::Options::retrieverOrNullptr

Resource retriever. LocalResourceRetriever is used if it's nullptr.

◆ thicknessRatio

double dart::utils::VskParser::Options::thicknessRatio

Ratio of shorter radii of each ellipsoid to the longest radius where the longest radius is the distance between a body and its child body node.