dart::utils::MjcfParser::detail::Site Class Reference

#include <Site.hpp>

Classes
struct	Data
	Intermediate raw data read from the XML file. More...

Public Member Functions
	Site ()=default
	Default constructor. More...
Attributes
const std::string &	getName () const
GeomType	getType () const
int	getGroup () const
const Eigen::Vector3d &	getSize () const
double	getSphereRadius () const
double	getCapsuleRadius () const
double	getCapsuleHalfLength () const
double	getCapsuleLength () const
const Eigen::Vector3d &	getEllipsoidRadii () const
Eigen::Vector3d	getEllipsoidDiameters () const
double	getCylinderRadius () const
double	getCylinderHalfLength () const
double	getCylinderLength () const
const Eigen::Vector3d &	getBoxHalfSize () const
Eigen::Vector3d	getBoxSize () const
const Eigen::Vector4d &	getRGBA () const
const Eigen::Vector3d &	getFriction () const
void	setRelativeTransform (const Eigen::Isometry3d &tf)
const Eigen::Isometry3d &	getRelativeTransform () const
void	setWorldTransform (const Eigen::Isometry3d &tf)
const Eigen::Isometry3d &	getWorldTransform () const

Private Member Functions
Errors	read (tinyxml2::XMLElement *element)
Errors	preprocess (const Compiler &compiler)
	Updates attributes and elements that doesn't require any other elements. More...
Errors	compile (const Compiler &compiler)
	Updates attributes and elements that require the preprocessed child elements of this <Site>. More...
Errors	postprocess (const Body *body, const Compiler &compiler)
	Updates attributes and elements that require the compiled parent element. More...
double	computeVolume () const
Eigen::Matrix3d	computeInertia () const

Private Attributes
Data	mData
std::string	mName {""}
	Name of the Site. More...
GeomType	mType {GeomType::SPHERE}
	Type of Siteetric shape. More...
int	mGroup {0}
Eigen::Vector3d	mSize {Eigen::Vector3d::Constant(0.005)}
	Site size parameters. More...
Eigen::Vector4d	mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}
double	mMass
Eigen::Isometry3d	mRelativeTransform {Eigen::Isometry3d::Identity()}
Eigen::Isometry3d	mWorldTransform {Eigen::Isometry3d::Identity()}

Friends
class	Body
class	Worldbody

Constructor & Destructor Documentation

Site()

dart::utils::MjcfParser::detail::Site::Site ( )

default

Default constructor.

Member Function Documentation

compile()

Errors dart::utils::MjcfParser::detail::Site::compile ( const Compiler &  compiler )

private

Updates attributes and elements that require the preprocessed child elements of this <Site>.

computeInertia()

Eigen::Matrix3d dart::utils::MjcfParser::detail::Site::computeInertia ( ) const

private

computeVolume()

double dart::utils::MjcfParser::detail::Site::computeVolume ( ) const

private

getBoxHalfSize()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Site::getBoxHalfSize

(

)

const

getBoxSize()

Eigen::Vector3d dart::utils::MjcfParser::detail::Site::getBoxSize

(

)

const

getCapsuleHalfLength()

double dart::utils::MjcfParser::detail::Site::getCapsuleHalfLength

(

)

const

getCapsuleLength()

double dart::utils::MjcfParser::detail::Site::getCapsuleLength

(

)

const

getCapsuleRadius()

double dart::utils::MjcfParser::detail::Site::getCapsuleRadius

(

)

const

getCylinderHalfLength()

double dart::utils::MjcfParser::detail::Site::getCylinderHalfLength

(

)

const

getCylinderLength()

double dart::utils::MjcfParser::detail::Site::getCylinderLength

(

)

const

getCylinderRadius()

double dart::utils::MjcfParser::detail::Site::getCylinderRadius

(

)

const

getEllipsoidDiameters()

Eigen::Vector3d dart::utils::MjcfParser::detail::Site::getEllipsoidDiameters

(

)

const

getEllipsoidRadii()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Site::getEllipsoidRadii

(

)

const

getFriction()

const Eigen::Vector3d& dart::utils::MjcfParser::detail::Site::getFriction

(

)

const

getGroup()

int dart::utils::MjcfParser::detail::Site::getGroup

(

)

const

getName()

const std::string & dart::utils::MjcfParser::detail::Site::getName

(

)

const

getRelativeTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Site::getRelativeTransform

(

)

const

getRGBA()

const Eigen::Vector4d & dart::utils::MjcfParser::detail::Site::getRGBA

(

)

const

getSize()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Site::getSize

(

)

const

getSphereRadius()

double dart::utils::MjcfParser::detail::Site::getSphereRadius

(

)

const

getType()

GeomType dart::utils::MjcfParser::detail::Site::getType

(

)

const

getWorldTransform()

const Eigen::Isometry3d & dart::utils::MjcfParser::detail::Site::getWorldTransform

(

)

const

postprocess()

Errors dart::utils::MjcfParser::detail::Site::postprocess ( const Body *  body, const Compiler &  compiler  )

private

Updates attributes and elements that require the compiled parent element.

preprocess()

Errors dart::utils::MjcfParser::detail::Site::preprocess ( const Compiler &  compiler )

private

Updates attributes and elements that doesn't require any other elements.

read()

Errors dart::utils::MjcfParser::detail::Site::read ( tinyxml2::XMLElement *  element )

private

setRelativeTransform()

void dart::utils::MjcfParser::detail::Site::setRelativeTransform

(

const Eigen::Isometry3d &

tf

)

setWorldTransform()

void dart::utils::MjcfParser::detail::Site::setWorldTransform

(

const Eigen::Isometry3d &

tf

)

Friends And Related Function Documentation

Body

friend class Body

friend

Worldbody

friend class Worldbody

friend

Member Data Documentation

mData

Data dart::utils::MjcfParser::detail::Site::mData

private

mGroup

int dart::utils::MjcfParser::detail::Site::mGroup {0}

private

mMass

double dart::utils::MjcfParser::detail::Site::mMass

private

mName

std::string dart::utils::MjcfParser::detail::Site::mName {""}

private

Name of the Site.

mRelativeTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Site::mRelativeTransform {Eigen::Isometry3d::Identity()}

private

mRGBA

Eigen::Vector4d dart::utils::MjcfParser::detail::Site::mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}

private

mSize

Eigen::Vector3d dart::utils::MjcfParser::detail::Site::mSize {Eigen::Vector3d::Constant(0.005)}

private

Site size parameters.

mType

GeomType dart::utils::MjcfParser::detail::Site::mType {GeomType::SPHERE}

private

Type of Siteetric shape.

mWorldTransform

Eigen::Isometry3d dart::utils::MjcfParser::detail::Site::mWorldTransform {Eigen::Isometry3d::Identity()}

private