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

Public Attributes
common::optional< 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::Zero()}
	Site size parameters. More...

Eigen::Vector4d	mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}

common::optional< Eigen::Vector6d >	mFromTo
	This attribute can only be used with capsule, cylinder, ellipsoid and box Sites. More...

Eigen::Vector3d	mPos {Eigen::Vector3d::Zero()}
	Position of the Site frame, in local or global coordinates as determined by the coordinate attribute of compiler. More...

Eigen::Quaterniond	mQuat {Eigen::Quaterniond::Identity()}
	Quaternion. More...

common::optional< Eigen::Vector4d >	mAxisAngle
	These are the quantities (x, y, z, a) mentioned above. More...

common::optional< Eigen::Vector3d >	mEuler
	Rotation angles around three coordinate axes. More...

common::optional< Eigen::Vector6d >	mXYAxes
	The first 3 numbers are the X axis of the frame. More...

common::optional< Eigen::Vector3d >	mZAxis
	The Z axis of the frame. More...

Detailed Description

Intermediate raw data read from the XML file.

For the details, see http://www.mujoco.org/book/XMLreference.html#Site

Member Data Documentation

◆ mAxisAngle

common::optional<Eigen::Vector4d> dart::utils::MjcfParser::detail::Site::Data::mAxisAngle

These are the quantities (x, y, z, a) mentioned above.

The last number is the angle of rotation, in degrees or radians as specified by the angle attribute of compiler.

◆ mEuler

common::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::Site::Data::mEuler

Rotation angles around three coordinate axes.

◆ mFromTo

common::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::Site::Data::mFromTo

This attribute can only be used with capsule, cylinder, ellipsoid and box Sites.

It provides an alternative specification of the Site length as well as the frame position and orientation.

◆ mGroup

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

◆ mName

common::optional<std::string> dart::utils::MjcfParser::detail::Site::Data::mName

Name of the Site.

◆ mPos

Eigen::Vector3d dart::utils::MjcfParser::detail::Site::Data::mPos {Eigen::Vector3d::Zero()}

Position of the Site frame, in local or global coordinates as determined by the coordinate attribute of compiler.

◆ mQuat

Eigen::Quaterniond dart::utils::MjcfParser::detail::Site::Data::mQuat {Eigen::Quaterniond::Identity()}

Quaternion.

◆ mRGBA

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

◆ mSize

Eigen::Vector3d dart::utils::MjcfParser::detail::Site::Data::mSize {Eigen::Vector3d::Zero()}

Site size parameters.

◆ mType

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

Type of Siteetric shape.

◆ mXYAxes

common::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::Site::Data::mXYAxes

The first 3 numbers are the X axis of the frame.

The next 3 numbers are the Y axis of the frame, which is automatically made orthogonal to the X axis. The Z axis is then defined as the cross-product of the X and Y axes.

◆ mZAxis

common::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::Site::Data::mZAxis

The Z axis of the frame.

Public Attributes