Intermediate raw data read from the XML file.
More...
#include <GeomAttributes.hpp>
|
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::Vector6d > | mFromTo |
| 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::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...
|
|
common::optional< std::string > | mHField |
|
common::optional< std::string > | mMesh |
|
double | mFitScale {1} |
|
Intermediate raw data read from the XML file.
For the details, see http://www.mujoco.org/book/XMLreference.html#geom
◆ 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
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
◆ mMesh
common::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mMesh |
◆ mName
common::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mName |
◆ 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()} |
◆ 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()} |
◆ mSolMix
double dart::utils::MjcfParser::detail::GeomAttributes::mSolMix {1} |
Weight used for averaging of contact parameters, and interacts with the priority attribute.
◆ mType
◆ 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 |