DART
6.10.1
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Main class to parse MJCF model file. More...
#include <MujocoModel.hpp>
Public Member Functions | |
MujocoModel ()=default | |
Errors | read (const common::Uri &uri, const common::ResourceRetrieverPtr &retrieverOrNull=nullptr) |
Reads MJCF XML file. More... | |
const std::string & | getModel () const |
Returns the name of the model. More... | |
const Compiler & | getCompiler () const |
Returns the parsed <compiler> element. More... | |
const Option & | getOption () const |
Returns the parsed <option> element. More... | |
const Size & | getSize () const |
Returns the parsed <size> element. More... | |
const Asset & | getAsset () const |
Returns the parsed <asset> element. More... | |
const Worldbody & | getWorldbody () const |
Returns the parsed <worldbody> element. More... | |
const Equality & | getEquality () const |
Returns the parsed <equality> element. More... | |
Private Member Functions | |
Errors | read (tinyxml2::XMLElement *element, const common::Uri &baseUri, const common::ResourceRetrieverPtr &retriever) |
Private Attributes | |
std::string | mModel {"MuJoCo Model"} |
The name of the model. More... | |
Compiler | mCompiler |
Option | mOption |
Size | mSize |
Defaults | mDefaults |
Asset | mAsset |
Worldbody | mWorldbody |
Equality | mEquality |
Main class to parse MJCF model file.
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const Asset & dart::utils::MjcfParser::detail::MujocoModel::getAsset | ( | ) | const |
Returns the parsed <asset> element.
const Compiler & dart::utils::MjcfParser::detail::MujocoModel::getCompiler | ( | ) | const |
Returns the parsed <compiler> element.
const Equality & dart::utils::MjcfParser::detail::MujocoModel::getEquality | ( | ) | const |
Returns the parsed <equality> element.
const std::string & dart::utils::MjcfParser::detail::MujocoModel::getModel | ( | ) | const |
Returns the name of the model.
const Option & dart::utils::MjcfParser::detail::MujocoModel::getOption | ( | ) | const |
Returns the parsed <option> element.
const Size & dart::utils::MjcfParser::detail::MujocoModel::getSize | ( | ) | const |
Returns the parsed <size> element.
const Worldbody & dart::utils::MjcfParser::detail::MujocoModel::getWorldbody | ( | ) | const |
Returns the parsed <worldbody> element.
Errors dart::utils::MjcfParser::detail::MujocoModel::read | ( | const common::Uri & | uri, |
const common::ResourceRetrieverPtr & | retrieverOrNull = nullptr |
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Reads MJCF XML file.
[in] | uri | URI to the XML file |
[in] | retrieverOrNull | Retriever to acquire the XML file from uri |
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The name of the model.
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