dart::utils::MjcfParser Namespace Reference

Namespaces
namespace	detail

Classes
struct	Options

Functions
dynamics::BodyNode::Properties	createBodyProperties (dart::dynamics::SkeletonPtr skel, const detail::Body &mjcfBody)
void	createJointCommonProperties (dynamics::Joint::Properties &props, const dynamics::BodyNode *parentBodyNode, const detail::Body &, const detail::Joint &mjcfJoint)
dynamics::WeldJoint::Properties	createWeldJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &bodyNodeProps, const detail::Body &mjcfBody)
dynamics::FreeJoint::Properties	createFreeJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
dynamics::BallJoint::Properties	createBallJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
dynamics::PrismaticJoint::Properties	createPrismaticJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
dynamics::RevoluteJoint::Properties	createRevoluteJointProperties (const dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &, const detail::Body &mjcfBody, const detail::Joint &mjcfJoint)
std::pair< dynamics::Joint *, dynamics::BodyNode * >	createJointAndBodyNodePairForMultipleJoints (dynamics::SkeletonPtr skel, dynamics::BodyNode *parentBodyNode, const dynamics::BodyNode::Properties &bodyProps, const detail::Body &mjcfBody)
template<typename GeomOrSite >
dynamics::ShapePtr	createShape (const GeomOrSite &geomOrSite)
dynamics::ShapePtr	createShape (const detail::Geom &geom, const detail::Asset &mjcfAsset)
bool	createShapeNodes (dynamics::BodyNode *bodyNode, const detail::Body &mjcfBody, const detail::Asset &mjcfAsset)
bool	populateSkeletonRecurse (dynamics::SkeletonPtr skel, dynamics::BodyNode *parentBodyNode, const detail::Body &mjcfBody, const detail::Asset &mjcfAsset)
dynamics::SkeletonPtr	createSkeleton (const detail::Body &mjcfBody, const detail::Asset &mjcfAsset)
simulation::WorldPtr	createWorld (const detail::MujocoModel &mujoco, const Options &options)
dynamics::BodyNode *	getUniqueBodyOrNull (const simulation::World &world, const std::string &name)
simulation::WorldPtr	readWorld (const common::Uri &uri, const Options &options=Options())
	Reads World from MJCF model file.

Function Documentation

createBallJointProperties()

dynamics::BallJoint::Properties dart::utils::MjcfParser::createBallJointProperties	(	const dynamics::BodyNode *	parentBodyNode,
		const dynamics::BodyNode::Properties &	,
		const detail::Body &	mjcfBody,
		const detail::Joint &	mjcfJoint
	)

createBodyProperties()

dynamics::BodyNode::Properties dart::utils::MjcfParser::createBodyProperties	(	dart::dynamics::SkeletonPtr	skel,
		const detail::Body &	mjcfBody
	)

createFreeJointProperties()

dynamics::FreeJoint::Properties dart::utils::MjcfParser::createFreeJointProperties	(	const dynamics::BodyNode *	parentBodyNode,
		const dynamics::BodyNode::Properties &	,
		const detail::Body &	mjcfBody,
		const detail::Joint &	mjcfJoint
	)

createJointAndBodyNodePairForMultipleJoints()

std::pair< dynamics::Joint *, dynamics::BodyNode * > dart::utils::MjcfParser::createJointAndBodyNodePairForMultipleJoints	(	dynamics::SkeletonPtr	skel,
		dynamics::BodyNode *	parentBodyNode,
		const dynamics::BodyNode::Properties &	bodyProps,
		const detail::Body &	mjcfBody
	)

createJointCommonProperties()

void dart::utils::MjcfParser::createJointCommonProperties	(	dynamics::Joint::Properties &	props,
		const dynamics::BodyNode *	parentBodyNode,
		const detail::Body &	,
		const detail::Joint &	mjcfJoint
	)

createPrismaticJointProperties()

dynamics::PrismaticJoint::Properties dart::utils::MjcfParser::createPrismaticJointProperties	(	const dynamics::BodyNode *	parentBodyNode,
		const dynamics::BodyNode::Properties &	,
		const detail::Body &	mjcfBody,
		const detail::Joint &	mjcfJoint
	)

createRevoluteJointProperties()

dynamics::RevoluteJoint::Properties dart::utils::MjcfParser::createRevoluteJointProperties	(	const dynamics::BodyNode *	parentBodyNode,
		const dynamics::BodyNode::Properties &	,
		const detail::Body &	mjcfBody,
		const detail::Joint &	mjcfJoint
	)

createShape() [1/2]

dynamics::ShapePtr dart::utils::MjcfParser::createShape	(	const detail::Geom &	geom,
		const detail::Asset &	mjcfAsset
	)

createShape() [2/2]

template<typename GeomOrSite >

dynamics::ShapePtr dart::utils::MjcfParser::createShape

(

const GeomOrSite &

geomOrSite

)

createShapeNodes()

bool dart::utils::MjcfParser::createShapeNodes	(	dynamics::BodyNode *	bodyNode,
		const detail::Body &	mjcfBody,
		const detail::Asset &	mjcfAsset
	)

createSkeleton()

dynamics::SkeletonPtr dart::utils::MjcfParser::createSkeleton	(	const detail::Body &	mjcfBody,
		const detail::Asset &	mjcfAsset
	)

createWeldJointProperties()

dynamics::WeldJoint::Properties dart::utils::MjcfParser::createWeldJointProperties	(	const dynamics::BodyNode *	parentBodyNode,
		const dynamics::BodyNode::Properties &	bodyNodeProps,
		const detail::Body &	mjcfBody
	)

createWorld()

simulation::WorldPtr dart::utils::MjcfParser::createWorld	(	const detail::MujocoModel &	mujoco,
		const Options &	options
	)

getUniqueBodyOrNull()

dynamics::BodyNode * dart::utils::MjcfParser::getUniqueBodyOrNull	(	const simulation::World &	world,
		const std::string &	name
	)

populateSkeletonRecurse()

bool dart::utils::MjcfParser::populateSkeletonRecurse	(	dynamics::SkeletonPtr	skel,
		dynamics::BodyNode *	parentBodyNode,
		const detail::Body &	mjcfBody,
		const detail::Asset &	mjcfAsset
	)

readWorld()

simulation::WorldPtr dart::utils::MjcfParser::readWorld	(	const common::Uri &	uri,
		const Options &	options = Options()
	)

Reads World from MJCF model file.

Parameters

[in]	uri	URI to the XML file
[in]	retrieverOrNull	Retriever to acquire the XML file from uri

Returns

Parsed world.

Warning

This MJCF model parser is experimental and not complete implementation of the spec.