Classes
class	Asset

class	Body

struct	BodyAttributes
	Intermediate raw data read from the XML file. More...

class	Compiler

class	Default

class	Defaults

class	Equality

class	Error

class	Geom

struct	GeomAttributes
	Intermediate raw data read from the XML file. More...

class	Inertial

class	Joint

struct	JointAttributes

class	Mesh

struct	MeshAttributes
	Intermediate raw data read from the XML file. More...

class	MujocoModel
	Main class to parse MJCF model file. More...

class	Option

class	Site

class	Size

class	Weld

struct	WeldAttributes

class	Worldbody

Typedefs
using	Errors = std::vector< Error >

Enumerations
enum class	ErrorCode { NONE = 0 , FILE_READ , DUPLICATE_NAME , ATTRIBUTE_MISSING , ATTRIBUTE_INVALID , ATTRIBUTE_DEPRECATED , ATTRIBUTE_CONFLICT , ELEMENT_MISSING , ELEMENT_INVALID , INCORRECT_ELEMENT_TYPE , UNDEFINED_ERROR }

enum class	Angle { DEGREE = 0 , RADIAN = 1 }
	This attribute specifies whether the angles in the MJCF model are expressed in units of degrees or radians. More...

enum class	Coordinate { LOCAL = 0 , GLOBAL = 1 }
	This attribute specifies whether the frame positions and orientations in the MJCF model are expressed in local or global coordinates; recall Coordinate frames. More...

enum class	Integrator { EULER = 0 , RK4 = 1 }
	This attribute selects the numerical integrator to be used. More...

enum class	InertiaFromGeom { FALSE , TRUE , AUTO }

enum class	CollisionType { ALL , PREDEFINED , DYNAMIC }

enum class	ConeType { PYRAMIDAL , ELLIPTIC }

enum class	JacobianType { DENSE , SPARSE , AUTO }

enum class	SolverType { PGS , CG , NEWTON }

enum class	GeomType { PLANE , HFIELD , SPHERE , CAPSULE , ELLIPSOID , CYLINDER , BOX , MESH }

enum class	JointType { FREE , BALL , SLIDE , HINGE }

Functions
Errors	appendBodyAttributes (BodyAttributes &attributes, tinyxml2::XMLElement *element, const common::optional< Size > &size)

static bool	canUseFromTo (GeomType type, const common::optional< Eigen::Vector6d > &fromto)

Errors	appendGeomAttributes (GeomAttributes &attributes, tinyxml2::XMLElement *element)

Errors	appendJointAttributes (JointAttributes &attributes, tinyxml2::XMLElement *element)

Errors	appendMeshAttributes (MeshAttributes &attributes, tinyxml2::XMLElement *element)

static bool	canUseFromTo (GeomType type, const common::optional< Eigen::Vector6d > &fromto)

Errors	checkOrientationValidity (const tinyxml2::XMLElement *element)
	Checks if orientation elements (i.e., <quat>, <axisangle>, <euler>, <xyaxes>, <zaxis>) are properly set in `element`. More...

Eigen::Matrix3d	compileRotation (const Eigen::Quaterniond &quat, const common::optional< Eigen::Vector4d > &axisAngle, const common::optional< Eigen::Vector3d > &euler, const common::optional< Eigen::Vector6d > &xyAxes, const common::optional< Eigen::Vector3d > &zAxis, const Compiler &compiler)
	Extracts rotation matrix from "pre-parsed" orientation elements and the compiler settings. More...

Errors	handleInclude (tinyxml2::XMLElement *element, const common::Uri &baseUri, const common::ResourceRetrieverPtr &retriever)
	Includes other MJCF model file into `element`. More...

std::vector< dynamics::BodyNode * >	getBodyNodes (const simulation::World &world, const std::string &name)
	Finds all BodyNodes by name. More...

Errors	appendWeldAttributes (WeldAttributes &attributes, tinyxml2::XMLElement *element)

Typedef Documentation

◆ Errors

using dart::utils::MjcfParser::detail::Errors = typedef std::vector<Error>

Enumeration Type Documentation

◆ Angle

enum dart::utils::MjcfParser::detail::Angle

strong

This attribute specifies whether the angles in the MJCF model are expressed in units of degrees or radians.

The compiler converts degrees into radians, and mjModel always uses radians. For URDF models the parser sets this attribute to "radian" internally, regardless of the XML setting.

Enumerator
DEGREE	[Default] Always use for MJCF
RADIAN	Always use for URDF.

◆ CollisionType

enum dart::utils::MjcfParser::detail::CollisionType

strong

Enumerator
ALL
PREDEFINED
DYNAMIC

◆ ConeType

enum dart::utils::MjcfParser::detail::ConeType

strong

Enumerator
PYRAMIDAL
ELLIPTIC

◆ Coordinate

enum dart::utils::MjcfParser::detail::Coordinate

strong

This attribute specifies whether the frame positions and orientations in the MJCF model are expressed in local or global coordinates; recall Coordinate frames.

The compiler converts global into local coordinates, and mjModel always uses local coordinates. For URDF models the parser sets this attribute to "local" internally, regardless of the XML setting.

Enumerator
LOCAL	[Default]
GLOBAL

◆ ErrorCode

enum dart::utils::MjcfParser::detail::ErrorCode

strong

Enumerator
NONE
FILE_READ
DUPLICATE_NAME
ATTRIBUTE_MISSING
ATTRIBUTE_INVALID
ATTRIBUTE_DEPRECATED
ATTRIBUTE_CONFLICT
ELEMENT_MISSING
ELEMENT_INVALID
INCORRECT_ELEMENT_TYPE
UNDEFINED_ERROR

◆ GeomType

enum dart::utils::MjcfParser::detail::GeomType

strong

Enumerator
PLANE
HFIELD
SPHERE	[Default]
CAPSULE
ELLIPSOID
CYLINDER
BOX
MESH

◆ InertiaFromGeom

enum dart::utils::MjcfParser::detail::InertiaFromGeom

strong

Enumerator
FALSE
TRUE
AUTO

◆ Integrator

enum dart::utils::MjcfParser::detail::Integrator

strong

This attribute selects the numerical integrator to be used.

Currently the available integrators are the semi-implicit Euler method and the fixed-step 4-th order Runge Kutta method.

Enumerator
EULER	[Default]
RK4

◆ JacobianType

enum dart::utils::MjcfParser::detail::JacobianType

strong

Enumerator
DENSE
SPARSE
AUTO

◆ JointType

enum dart::utils::MjcfParser::detail::JointType

strong

Enumerator
FREE
BALL
SLIDE
HINGE	[Default]

◆ SolverType

enum dart::utils::MjcfParser::detail::SolverType

strong

Enumerator
PGS
CG
NEWTON

Function Documentation

◆ appendBodyAttributes()

Errors dart::utils::MjcfParser::detail::appendBodyAttributes	(	BodyAttributes &	attributes,
		tinyxml2::XMLElement *	element,
		const common::optional< Size > &	size
	)

◆ appendGeomAttributes()

Errors dart::utils::MjcfParser::detail::appendGeomAttributes	(	GeomAttributes &	attributes,
		tinyxml2::XMLElement *	element
	)

◆ appendJointAttributes()

Errors dart::utils::MjcfParser::detail::appendJointAttributes	(	JointAttributes &	attributes,
		tinyxml2::XMLElement *	element
	)

◆ appendMeshAttributes()

Errors dart::utils::MjcfParser::detail::appendMeshAttributes	(	MeshAttributes &	attributes,
		tinyxml2::XMLElement *	element
	)

◆ appendWeldAttributes()

Errors dart::utils::MjcfParser::detail::appendWeldAttributes	(	WeldAttributes &	attributes,
		tinyxml2::XMLElement *	element
	)

◆ canUseFromTo() [1/2]

static bool dart::utils::MjcfParser::detail::canUseFromTo	(	GeomType	type,
		const common::optional< Eigen::Vector6d > &	fromto
	)

static

◆ canUseFromTo() [2/2]

static bool dart::utils::MjcfParser::detail::canUseFromTo	(	GeomType	type,
		const common::optional< Eigen::Vector6d > &	fromto
	)

static

◆ checkOrientationValidity()

Errors dart::utils::MjcfParser::detail::checkOrientationValidity ( const tinyxml2::XMLElement * element )

Checks if orientation elements (i.e., <quat>, <axisangle>, <euler>, <xyaxes>, <zaxis>) are properly set in element.

◆ compileRotation()

Eigen::Matrix3d dart::utils::MjcfParser::detail::compileRotation	(	const Eigen::Quaterniond &	quat,
		const common::optional< Eigen::Vector4d > &	axisAngle,
		const common::optional< Eigen::Vector3d > &	euler,
		const common::optional< Eigen::Vector6d > &	xyAxes,
		const common::optional< Eigen::Vector3d > &	zAxis,
		const Compiler &	compiler
	)

Extracts rotation matrix from "pre-parsed" orientation elements and the compiler settings.

◆ getBodyNodes()

std::vector< dynamics::BodyNode * > dart::utils::MjcfParser::detail::getBodyNodes	(	const simulation::World &	world,
		const std::string &	name
	)

Finds all BodyNodes by name.

◆ handleInclude()

Errors dart::utils::MjcfParser::detail::handleInclude	(	tinyxml2::XMLElement *	element,
		const common::Uri &	baseUri,
		const common::ResourceRetrieverPtr &	retriever
	)

Includes other MJCF model file into element.

Parameters

[in]	baseUri	The URI of the main MJCF model file
[in]	retriever	The resource retriever used for the main MJCF model file

Returns: Errors occured in hadling elements

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ Errors

Enumeration Type Documentation

◆ Angle

◆ CollisionType

◆ ConeType

◆ Coordinate

◆ ErrorCode

◆ GeomType

◆ InertiaFromGeom

◆ Integrator

◆ JacobianType

◆ JointType

◆ SolverType

Function Documentation

◆ appendBodyAttributes()

◆ appendGeomAttributes()

◆ appendJointAttributes()

◆ appendMeshAttributes()

◆ appendWeldAttributes()

◆ canUseFromTo() [1/2]

◆ canUseFromTo() [2/2]

◆ checkOrientationValidity()

◆ compileRotation()

◆ getBodyNodes()

◆ handleInclude()