dart::utils::MjcfParser::detail::Joint Class Reference

#include <Joint.hpp>

Public Member Functions
	Joint ()=default
const std::string &	getName () const
JointType	getType () const
const Eigen::Vector3d &	getPos () const
const Eigen::Vector3d &	getAxis () const
bool	isLimited () const
const Eigen::Vector2d &	getRange () const
double	getDamping () const
double	getSpringRef () const

Private Member Functions
Errors	read (tinyxml2::XMLElement *element, const Defaults &defaults, const JointAttributes &defaultAttributes)
Errors	preprocess (const Compiler &compiler)
	Updates attributes and elements that doesn't require any other elements.
Errors	compile (const Compiler &compiler)
	Updates attributes and elements that require the preprocessed child elements of this <joint>.
Errors	postprocess (const Body *body, const Compiler &compiler)
	Updates attributes and elements that require the compiled parent element.

Private Attributes
JointAttributes	mAttributes
std::string	mName {""}
JointType	mType {JointType::HINGE}
int	mGroup {0}
Eigen::Vector3d	mPos {Eigen::Vector3d::Zero()}
	Position of the joint, specified in local or global coordinates as determined by the coordinate attribute of compiler.
Eigen::Vector3d	mAxis {Eigen::Vector3d::UnitZ()}
	This attribute specifies the axis of rotation for hinge joints and the direction of translation for slide joints.
Eigen::Vector2d	mSpringDamper {Eigen::Vector2d::Zero()}
bool	mLimited {false}
	This attribute specifies if the joint has limits.
double	mStiffness {0}
Eigen::Vector2d	mRange {Eigen::Vector2d::Zero()}
	The joint limits.
double	mMargin {0}
double	mRef {0}
double	mSpringRef {0}
double	mArmature {0}
double	mDamping {0}
double	mFrictionLoss {0}
Eigen::VectorXd	mUser

Friends
class	Body

Constructor & Destructor Documentation

Joint()

dart::utils::MjcfParser::detail::Joint::Joint ( )

default

Member Function Documentation

compile()

Errors dart::utils::MjcfParser::detail::Joint::compile ( const Compiler &  compiler )

private

Updates attributes and elements that require the preprocessed child elements of this <joint>.

getAxis()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Joint::getAxis

(

)

const

getDamping()

double dart::utils::MjcfParser::detail::Joint::getDamping

(

)

const

getName()

const std::string & dart::utils::MjcfParser::detail::Joint::getName

(

)

const

getPos()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Joint::getPos

(

)

const

getRange()

const Eigen::Vector2d & dart::utils::MjcfParser::detail::Joint::getRange

(

)

const

getSpringRef()

double dart::utils::MjcfParser::detail::Joint::getSpringRef

(

)

const

getType()

JointType dart::utils::MjcfParser::detail::Joint::getType

(

)

const

isLimited()

bool dart::utils::MjcfParser::detail::Joint::isLimited

(

)

const

postprocess()

Errors dart::utils::MjcfParser::detail::Joint::postprocess ( const Body *  body, const Compiler &  compiler  )

private

Updates attributes and elements that require the compiled parent element.

preprocess()

Errors dart::utils::MjcfParser::detail::Joint::preprocess ( const Compiler &  compiler )

private

Updates attributes and elements that doesn't require any other elements.

read()

Errors dart::utils::MjcfParser::detail::Joint::read ( tinyxml2::XMLElement *  element, const Defaults &  defaults, const JointAttributes &  defaultAttributes  )

private

Friends And Related Symbol Documentation

Body

friend class Body

friend

Member Data Documentation

mArmature

double dart::utils::MjcfParser::detail::Joint::mArmature {0}

private

mAttributes

JointAttributes dart::utils::MjcfParser::detail::Joint::mAttributes

private

mAxis

Eigen::Vector3d dart::utils::MjcfParser::detail::Joint::mAxis {Eigen::Vector3d::UnitZ()}

private

This attribute specifies the axis of rotation for hinge joints and the direction of translation for slide joints.

It is ignored for free and ball joints.

mDamping

double dart::utils::MjcfParser::detail::Joint::mDamping {0}

private

mFrictionLoss

double dart::utils::MjcfParser::detail::Joint::mFrictionLoss {0}

private

mGroup

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

private

mLimited

bool dart::utils::MjcfParser::detail::Joint::mLimited {false}

private

This attribute specifies if the joint has limits.

mMargin

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

private

mName

std::string dart::utils::MjcfParser::detail::Joint::mName {""}

private

mPos

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

private

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

For free joints this attribute is ignored.

mRange

Eigen::Vector2d dart::utils::MjcfParser::detail::Joint::mRange {Eigen::Vector2d::Zero()}

private

The joint limits.

mRef

double dart::utils::MjcfParser::detail::Joint::mRef {0}

private

mSpringDamper

Eigen::Vector2d dart::utils::MjcfParser::detail::Joint::mSpringDamper {Eigen::Vector2d::Zero()}

private

mSpringRef

double dart::utils::MjcfParser::detail::Joint::mSpringRef {0}

private

mStiffness

double dart::utils::MjcfParser::detail::Joint::mStiffness {0}

private

mType

JointType dart::utils::MjcfParser::detail::Joint::mType {JointType::HINGE}

private

mUser

Eigen::VectorXd dart::utils::MjcfParser::detail::Joint::mUser

private