Default.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_DEFAULT_HPP_
#define DART_UTILS_MJCF_DETAIL_DEFAULT_HPP_
 
#include <string>
#include <unordered_map>
 
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/GeomAttributes.hpp"
#include "dart/utils/mjcf/detail/JointAttributes.hpp"
#include "dart/utils/mjcf/detail/MeshAttributes.hpp"
#include "dart/utils/mjcf/detail/WeldAttributes.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Default final
{
public:
  Default() = default;
 
  const GeomAttributes& getGeomAttributes() const;
  const JointAttributes& getJointAttributes() const;
  const MeshAttributes& getMeshAttributes() const;
 
  const WeldAttributes& getWeldAttributes() const;
 
private:
  // Private members used by Defaults class
  friend class Defaults;
  Errors read(tinyxml2::XMLElement* element, const Default* parent);
 
private:
  GeomAttributes mGeomAttributes;
  JointAttributes mJointAttributes;
  MeshAttributes mMeshAttributes;
 
  // Equality constraint attributes
  WeldAttributes mWeldAttributes;
};
 
class Defaults
{
public:
  bool hasDefault(const std::string& className) const;
  const Default* getDefault(const std::string& className) const;
  const Default* getRootDefault() const;
 
private:
  // Private members used by MujocoModel class
  friend class MujocoModel;
  Errors read(tinyxml2::XMLElement* element, const Default* parent);
 
private:
  //  Default mRootDefault;
  std::string mRootClassName;
  std::unordered_map<std::string, Default> mDefaultMap;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_DEFAULT_HPP_