DART  6.10.1
dart::utils::MjcfParser::detail::GeomAttributes Struct Referencefinal

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

#include <GeomAttributes.hpp>

Public Attributes

common::optional< std::string > mName
 Name of the geom. More...
 
GeomType mType {GeomType::SPHERE}
 Type of geometric shape. More...
 
int mConType {1}
 
int mConAffinity {1}
 
int mConDim {3}
 
int mGroup {0}
 
int mPriority {0}
 
Eigen::Vector3d mSize {Eigen::Vector3d::Zero()}
 Geom size parameters. More...
 
Eigen::Vector4d mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}
 
Eigen::Vector3d mFriction {Eigen::Vector3d(1, 0.005, 0.0001)}
 
common::optional< double > mMass
 Mass. More...
 
double mDensity {1000}
 Material density used to compute the geom mass and inertia. More...
 
double mSolMix {1}
 Weight used for averaging of contact parameters, and interacts with the priority attribute. More...
 
double mMargin {0}
 Distance threshold below which contacts are detected and included in the global array mjData.contact. More...
 
double mGap {0}
 This attribute is used to enable the generation of inactive contacts, i.e. More...
 
common::optional< Eigen::Vector6dmFromTo
 This attribute can only be used with capsule, cylinder, ellipsoid and box geoms. More...
 
Eigen::Vector3d mPos {Eigen::Vector3d::Zero()}
 Position of the geom 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::Vector6dmXYAxes
 The first 3 numbers are the X axis of the frame. More...
 
common::optional< Eigen::Vector3d > mZAxis
 The Z axis of the frame. More...
 
common::optional< std::string > mHField
 
common::optional< std::string > mMesh
 
double mFitScale {1}
 

Detailed Description

Intermediate raw data read from the XML file.

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

Member Data Documentation

◆ mAxisAngle

common::optional<Eigen::Vector4d> dart::utils::MjcfParser::detail::GeomAttributes::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.

◆ mConAffinity

int dart::utils::MjcfParser::detail::GeomAttributes::mConAffinity {1}

◆ mConDim

int dart::utils::MjcfParser::detail::GeomAttributes::mConDim {3}

◆ mConType

int dart::utils::MjcfParser::detail::GeomAttributes::mConType {1}

◆ mDensity

double dart::utils::MjcfParser::detail::GeomAttributes::mDensity {1000}

Material density used to compute the geom mass and inertia.

◆ mEuler

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

Rotation angles around three coordinate axes.

◆ mFitScale

double dart::utils::MjcfParser::detail::GeomAttributes::mFitScale {1}

◆ mFriction

Eigen::Vector3d dart::utils::MjcfParser::detail::GeomAttributes::mFriction {Eigen::Vector3d(1, 0.005, 0.0001)}

◆ mFromTo

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

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

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

◆ mGap

double dart::utils::MjcfParser::detail::GeomAttributes::mGap {0}

This attribute is used to enable the generation of inactive contacts, i.e.

contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations.

◆ mGroup

int dart::utils::MjcfParser::detail::GeomAttributes::mGroup {0}

◆ mHField

common::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mHField

◆ mMargin

double dart::utils::MjcfParser::detail::GeomAttributes::mMargin {0}

Distance threshold below which contacts are detected and included in the global array mjData.contact.

◆ mMass

common::optional<double> dart::utils::MjcfParser::detail::GeomAttributes::mMass

Mass.

◆ mMesh

common::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mMesh

◆ mName

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

Name of the geom.

◆ mPos

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

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

◆ mPriority

int dart::utils::MjcfParser::detail::GeomAttributes::mPriority {0}

◆ mQuat

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

Quaternion.

◆ mRGBA

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

◆ mSize

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

Geom size parameters.

◆ mSolMix

double dart::utils::MjcfParser::detail::GeomAttributes::mSolMix {1}

Weight used for averaging of contact parameters, and interacts with the priority attribute.

◆ mType

GeomType dart::utils::MjcfParser::detail::GeomAttributes::mType {GeomType::SPHERE}

Type of geometric shape.

◆ mXYAxes

common::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::GeomAttributes::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::GeomAttributes::mZAxis

The Z axis of the frame.