MujocoModel.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_MUJOCOMODEL_HPP_
#define DART_UTILS_MJCF_DETAIL_MUJOCOMODEL_HPP_
 
#include <tinyxml2.h>
 
#include "dart/common/ResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/utils/mjcf/detail/Asset.hpp"
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Default.hpp"
#include "dart/utils/mjcf/detail/Equality.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Option.hpp"
#include "dart/utils/mjcf/detail/Size.hpp"
#include "dart/utils/mjcf/detail/Worldbody.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class MujocoModel final
{
public:
  MujocoModel() = default;
 
  Errors read(
      const common::Uri& uri,
      const common::ResourceRetrieverPtr& retrieverOrNull = nullptr);
 
  const std::string& getModel() const;
 
  const Compiler& getCompiler() const;
 
  const Option& getOption() const;
 
  const Size& getSize() const;
 
  const Asset& getAsset() const;
 
  const Worldbody& getWorldbody() const;
 
  const Equality& getEquality() const;
 
private:
  Errors read(
      tinyxml2::XMLElement* element,
      const common::Uri& baseUri,
      const common::ResourceRetrieverPtr& retriever);
 
  std::string mModel{"MuJoCo Model"};
 
  Compiler mCompiler;
  Option mOption;
  Size mSize;
  Defaults mDefaults;
  Asset mAsset;
  Worldbody mWorldbody;
  Equality mEquality;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_MUJOCOMODEL_HPP_