JointAttributes.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_JOINTATTRIBUTES_HPP_
#define DART_UTILS_MJCF_DETAIL_JOINTATTRIBUTES_HPP_
 
#include <Eigen/Core>
#include <tinyxml2.h>
 
#include "dart/common/Optional.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Types.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
struct JointAttributes final
{
  common::optional<std::string> mName;
 
  JointType mType{JointType::HINGE};
 
  int mGroup{0};
 
  Eigen::Vector3d mPos{Eigen::Vector3d::Zero()};
 
  Eigen::Vector3d mAxis{Eigen::Vector3d::UnitZ()};
 
  Eigen::Vector2d mSpringDamper{Eigen::Vector2d::Zero()};
 
  bool mLimited{false};
 
  double mStiffness{0};
 
  Eigen::Vector2d mRange{Eigen::Vector2d::Zero()};
 
  double mMargin{0};
 
  double mRef{0};
 
  double mSpringRef{0};
 
  double mArmature{0};
 
  double mDamping{0};
 
  double mFrictionLoss{0};
 
  Eigen::VectorXd mUser;
};
 
Errors appendJointAttributes(
    JointAttributes& attributes, tinyxml2::XMLElement* element);
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_JOINTATTRIBUTES_HPP_