33 #ifndef DART_UTILS_MJCF_DETAIL_OPTION_HPP_
34 #define DART_UTILS_MJCF_DETAIL_OPTION_HPP_
44 namespace MjcfParser {
56 const Eigen::Vector3d&
getWind()
const;
81 Eigen::Vector3d
mGravity{Eigen::Vector3d(0, 0, -9.81)};
82 Eigen::Vector3d
mWind{Eigen::Vector3d::Zero()};
83 Eigen::Vector3d
mMagnetic{Eigen::Vector3d(0, -0.5, 0)};
Main class to parse MJCF model file.
Definition: MujocoModel.hpp:56
Definition: Option.hpp:48
double getViscosity() const
Definition: Option.cpp:303
Errors read(tinyxml2::XMLElement *element)
Definition: Option.cpp:43
int getIterations() const
Definition: Option.cpp:339
int mNoSlipIterations
Definition: Option.hpp:93
const Eigen::Vector3d & getMagnetic() const
Definition: Option.cpp:291
double getTimestep() const
Definition: Option.cpp:261
double mTolerance
Definition: Option.hpp:92
Eigen::Vector3d mWind
Definition: Option.hpp:82
CollisionType mCollision
Definition: Option.hpp:87
Eigen::Vector3d mMagnetic
Definition: Option.hpp:83
double mTimestep
Definition: Option.hpp:78
JacobianType mJacobian
Definition: Option.hpp:89
double mApiRate
Definition: Option.hpp:79
int getMprIterations() const
Definition: Option.cpp:363
double mViscosity
Definition: Option.hpp:85
Integrator mIntegrator
Definition: Option.hpp:86
double mImpRatio
Definition: Option.hpp:80
const Eigen::Vector3d & getGravity() const
Definition: Option.cpp:279
double getTolerance() const
Definition: Option.cpp:345
ConeType mCone
Definition: Option.hpp:88
JacobianType getJacobian() const
Definition: Option.cpp:327
Integrator getIntegrator() const
Definition: Option.cpp:309
int mIterations
Definition: Option.hpp:91
double mNoSlipTolerance
Definition: Option.hpp:94
double getImpRatio() const
Definition: Option.cpp:273
ConeType getCone() const
Definition: Option.cpp:321
SolverType getSolver() const
Definition: Option.cpp:333
double mDensity
Definition: Option.hpp:84
double getDensity() const
Definition: Option.cpp:297
CollisionType getCollision() const
Definition: Option.cpp:315
double getApiRate() const
Definition: Option.cpp:267
int mMprIterations
Definition: Option.hpp:95
SolverType mSolver
Definition: Option.hpp:90
const Eigen::Vector3d & getWind() const
Definition: Option.cpp:285
double getMprTolerance() const
Definition: Option.cpp:369
double mMprTolerance
Definition: Option.hpp:96
Eigen::Vector3d mGravity
Definition: Option.hpp:81
int getNoSlipIterations() const
Definition: Option.cpp:351
double getNoSlipTolerance() const
Definition: Option.cpp:357
JacobianType
Definition: Types.hpp:105
SolverType
Definition: Types.hpp:112
Integrator
This attribute selects the numerical integrator to be used.
Definition: Types.hpp:72
ConeType
Definition: Types.hpp:99
CollisionType
Definition: Types.hpp:92
std::vector< Error > Errors
Definition: Error.hpp:85
Definition: BulletCollisionDetector.cpp:65