VskParser.hpp

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#ifndef DART_UTILS_VSKPARSER_HPP_
#define DART_UTILS_VSKPARSER_HPP_
 
#include "dart/common/ResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/math/Constants.hpp"
 
namespace dart {
namespace utils {
 
namespace VskParser {
struct Options
{
  common::ResourceRetrieverPtr retrieverOrNullptr;
 
  Eigen::Vector3d defaultEllipsoidSize;
 
  double thicknessRatio;
 
  double density;
 
  double jointPositionLowerLimit;
 
  double jointPositionUpperLimit;
 
  double jointDampingCoefficient;
 
  double jointFriction;
 
  bool removeEndBodyNodes;
 
  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);
};
 
dynamics::SkeletonPtr readSkeleton(
    const common::Uri& fileUri, Options options = Options());
 
} // namespace VskParser
 
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_VSKPARSER_HPP_