Inertial.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_INERTIAL_HPP_
#define DART_UTILS_MJCF_DETAIL_INERTIAL_HPP_
 
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/math/MathTypes.hpp"
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Body;
 
class Inertial final
{
public:
  Inertial() = default;
 
  Errors read(tinyxml2::XMLElement* element);
 
  void setMass(double mass);
  double getMass() const;
 
  void setDiagInertia(const Eigen::Vector3d& inertia);
  const Eigen::Vector3d& getDiagInertia() const;
 
  void setOffDiagInertia(const Eigen::Vector3d& inertia);
  const Eigen::Vector3d& getOffDiagInertia() const;
 
  void setRelativeTransform(const Eigen::Isometry3d& tf);
  const Eigen::Isometry3d& getRelativeTransform() const;
 
  void setWorldTransform(const Eigen::Isometry3d& tf);
  const Eigen::Isometry3d& getWorldTransform() const;
 
private:
  // Private members used by Body class
  friend class Body;
  Errors compile(const Compiler& compiler);
 
private:
  struct Data
  {
    Eigen::Vector3d mPos;
 
    Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};
 
    common::optional<Eigen::Vector4d> mAxisAngle;
 
    common::optional<Eigen::Vector3d> mEuler;
 
    common::optional<Eigen::Vector6d> mXYAxes;
 
    common::optional<Eigen::Vector3d> mZAxis;
 
    Eigen::Isometry3d mRelativeTransform{Eigen::Isometry3d::Identity()};
    Eigen::Isometry3d mWorldTransform{Eigen::Isometry3d::Identity()};
 
    double mMass;
 
    common::optional<Eigen::Vector3d> mDiagInertia;
 
    common::optional<Eigen::Vector6d> mFullInertia;
  };
 
  Data mData;
 
  Eigen::Vector3d mPos;
 
  Eigen::Isometry3d mRelativeTransform{Eigen::Isometry3d::Identity()};
  Eigen::Isometry3d mWorldTransform{Eigen::Isometry3d::Identity()};
 
  double mMass;
 
  Eigen::Vector3d mDiagonalInertia;
  Eigen::Vector3d mOffDiagonalInertia;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_INERTIAL_HPP_