DART  6.10.1
BodyAttributes.hpp
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32 
33 #ifndef DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
34 #define DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
35 
36 #include <string>
37 
38 #include <Eigen/Dense>
39 #include <tinyxml2.h>
40 
41 #include "dart/common/Optional.hpp"
42 #include "dart/math/MathTypes.hpp"
45 
46 namespace dart {
47 namespace utils {
48 namespace MjcfParser {
49 namespace detail {
50 
51 class Size;
52 
55 struct BodyAttributes final
56 {
59 
65 
67  bool mMocap{false};
68 
72 
74  Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};
75 
80 
85 
91 
94 
95  Eigen::VectorXd mUser;
96 
98 };
99 
101  BodyAttributes& attributes,
102  tinyxml2::XMLElement* element,
103  const common::optional<Size>& size);
104 
105 } // namespace detail
106 } // namespace MjcfParser
107 } // namespace utils
108 } // namespace dart
109 
110 #endif // #ifndef DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
boost::optional< T > optional
Definition: Optional.hpp:50
Errors appendBodyAttributes(BodyAttributes &attributes, tinyxml2::XMLElement *element, const common::optional< Size > &size)
Definition: BodyAttributes.cpp:45
std::vector< Error > Errors
Definition: Error.hpp:85
Definition: BulletCollisionDetector.cpp:65
Intermediate raw data read from the XML file.
Definition: BodyAttributes.hpp:56
Eigen::VectorXd mUser
Definition: BodyAttributes.hpp:95
common::optional< Eigen::Vector3d > mZAxis
The Z axis of the frame.
Definition: BodyAttributes.hpp:93
common::optional< Inertial > mInertial
Definition: BodyAttributes.hpp:97
common::optional< Eigen::Vector6d > mXYAxes
The first 3 numbers are the X axis of the frame.
Definition: BodyAttributes.hpp:90
Eigen::Quaterniond mQuat
Quaternion.
Definition: BodyAttributes.hpp:74
common::optional< Eigen::Vector3d > mEuler
Rotation angles around three coordinate axes.
Definition: BodyAttributes.hpp:84
common::optional< Eigen::Vector4d > mAxisAngle
These are the quantities (x, y, z, a) mentioned above.
Definition: BodyAttributes.hpp:79
common::optional< std::string > mName
Name of the body.
Definition: BodyAttributes.hpp:58
common::optional< Eigen::Vector3d > mPos
The 3D position of the body frame, in local or global coordinates as determined by the coordinate att...
Definition: BodyAttributes.hpp:71
bool mMocap
If this attribute is "true", the body is labeled as a mocap body.
Definition: BodyAttributes.hpp:67
common::optional< std::string > mChildClass
If this attribute is present, all descendant elements that admit a defaults class will use the class ...
Definition: BodyAttributes.hpp:64