DART  6.10.1
dart::utils::MjcfParser::detail::MujocoModel Class Referencefinal

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 CompilergetCompiler () const
 Returns the parsed <compiler> element. More...
 
const OptiongetOption () const
 Returns the parsed <option> element. More...
 
const SizegetSize () const
 Returns the parsed <size> element. More...
 
const AssetgetAsset () const
 Returns the parsed <asset> element. More...
 
const WorldbodygetWorldbody () const
 Returns the parsed <worldbody> element. More...
 
const EqualitygetEquality () 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
 

Detailed Description

Main class to parse MJCF model file.

Constructor & Destructor Documentation

◆ MujocoModel()

dart::utils::MjcfParser::detail::MujocoModel::MujocoModel ( )
default

Member Function Documentation

◆ getAsset()

const Asset & dart::utils::MjcfParser::detail::MujocoModel::getAsset ( ) const

Returns the parsed <asset> element.

◆ getCompiler()

const Compiler & dart::utils::MjcfParser::detail::MujocoModel::getCompiler ( ) const

Returns the parsed <compiler> element.

◆ getEquality()

const Equality & dart::utils::MjcfParser::detail::MujocoModel::getEquality ( ) const

Returns the parsed <equality> element.

◆ getModel()

const std::string & dart::utils::MjcfParser::detail::MujocoModel::getModel ( ) const

Returns the name of the model.

◆ getOption()

const Option & dart::utils::MjcfParser::detail::MujocoModel::getOption ( ) const

Returns the parsed <option> element.

◆ getSize()

const Size & dart::utils::MjcfParser::detail::MujocoModel::getSize ( ) const

Returns the parsed <size> element.

◆ getWorldbody()

const Worldbody & dart::utils::MjcfParser::detail::MujocoModel::getWorldbody ( ) const

Returns the parsed <worldbody> element.

◆ read() [1/2]

Errors dart::utils::MjcfParser::detail::MujocoModel::read ( const common::Uri uri,
const common::ResourceRetrieverPtr retrieverOrNull = nullptr 
)

Reads MJCF XML file.

Parameters
[in]uriURI to the XML file
[in]retrieverOrNullRetriever to acquire the XML file from uri
Returns
Errors occurred in parsing

◆ read() [2/2]

Errors dart::utils::MjcfParser::detail::MujocoModel::read ( tinyxml2::XMLElement *  element,
const common::Uri baseUri,
const common::ResourceRetrieverPtr retriever 
)
private

Member Data Documentation

◆ mAsset

Asset dart::utils::MjcfParser::detail::MujocoModel::mAsset
private

◆ mCompiler

Compiler dart::utils::MjcfParser::detail::MujocoModel::mCompiler
private

◆ mDefaults

Defaults dart::utils::MjcfParser::detail::MujocoModel::mDefaults
private

◆ mEquality

Equality dart::utils::MjcfParser::detail::MujocoModel::mEquality
private

◆ mModel

std::string dart::utils::MjcfParser::detail::MujocoModel::mModel {"MuJoCo Model"}
private

The name of the model.

◆ mOption

Option dart::utils::MjcfParser::detail::MujocoModel::mOption
private

◆ mSize

Size dart::utils::MjcfParser::detail::MujocoModel::mSize
private

◆ mWorldbody

Worldbody dart::utils::MjcfParser::detail::MujocoModel::mWorldbody
private