dart::utils::DartLoader::Options Struct Reference

Options to be used in parsing URDF files. More...

#include <DartLoader.hpp>

Public Member Functions
	Options (common::ResourceRetrieverPtr resourceRetriever=nullptr, RootJointType defaultRootJointType=RootJointType::FLOATING, const dynamics::Inertia &defaultInertia=dynamics::Inertia())
	Default constructor.

Public Attributes
common::ResourceRetrieverPtr	mResourceRetriever
	Resource retriever. LocalResourceRetriever is used if it's nullptr.
RootJointType	mDefaultRootJointType
	Default root joint type to be used when the parent joint of the root link is not specified in the URDF file.
dynamics::Inertia	mDefaultInertia
	Default inertia properties to be used when the inertial element is not specified in the link element.

Detailed Description

Options to be used in parsing URDF files.

Constructor & Destructor Documentation

Options()

dart::utils::DartLoader::Options::Options	(	common::ResourceRetrieverPtr	resourceRetriever = nullptr,
		RootJointType	defaultRootJointType = RootJointType::FLOATING,
		const dynamics::Inertia &	defaultInertia = dynamics::Inertia()
	)

Default constructor.

Member Data Documentation

mDefaultInertia

dynamics::Inertia dart::utils::DartLoader::Options::mDefaultInertia

Default inertia properties to be used when the inertial element is not specified in the link element.

mDefaultRootJointType

RootJointType dart::utils::DartLoader::Options::mDefaultRootJointType

Default root joint type to be used when the parent joint of the root link is not specified in the URDF file.

mResourceRetriever

common::ResourceRetrieverPtr dart::utils::DartLoader::Options::mResourceRetriever

Resource retriever. LocalResourceRetriever is used if it's nullptr.