Options struct is additional information that helps building a skeleton that can be used in kinematics or dynamics simulation. More...

#include <VskParser.hpp>

Public Member Functions
	Options (const common::ResourceRetrieverPtr &retrieverOrNullptr=nullptr, const Eigen::Vector3d &defaultEllipsoidSize=Eigen::Vector3d::Constant(0.05), double thicknessRatio=0.35, double density=1e+3, double jointPositionLowerLimit=-math::constantsd::pi(), double jointPositionUpperLimit=+math::constantsd::pi(), double jointDampingCoefficient=0.1, double jointFriction=0.0, bool removeEndBodyNodes=false)
	Constructor.

Public Attributes
common::ResourceRetrieverPtr	retrieverOrNullptr
	Resource retriever. LocalResourceRetriever is used if it's nullptr.

Eigen::Vector3d	defaultEllipsoidSize
	The default shape for body node is ellipsoid.

double	thicknessRatio
	Ratio of shorter radii of each ellipsoid to the longest radius where the longest radius is the distance between a body and its child body node.

double	density
	Density of each ellipsoid that are used to compute mass.

double	jointPositionLowerLimit
	Lower limit of joint position.

double	jointPositionUpperLimit
	Upper limit of joint position.

double	jointDampingCoefficient
	Joint damping coefficient.

double	jointFriction
	Joint Coulomb friction.

bool	removeEndBodyNodes
	Remove end BodyNodes with no Shape segment.

Detailed Description

Options struct is additional information that helps building a skeleton that can be used in kinematics or dynamics simulation.

VSK file format itself doesn't provide essential properties for it such as body's shape, mass, and inertia.

Constructor & Destructor Documentation

◆ Options()

dart::utils::VskParser::Options::Options	(	const common::ResourceRetrieverPtr &	retrieverOrNullptr = `nullptr`,
		const Eigen::Vector3d &	defaultEllipsoidSize = `Eigen::Vector3d::Constant(0.05)`,
		double	thicknessRatio = `0.35`,
		double	density = `1e+3`,
		double	jointPositionLowerLimit = `-math::constantsd::pi()`,
		double	jointPositionUpperLimit = `+math::constantsd::pi()`,
		double	jointDampingCoefficient = `0.1`,
		double	jointFriction = `0.0`,
		bool	removeEndBodyNodes = `false`
	)

Constructor.

Member Data Documentation

◆ defaultEllipsoidSize

Eigen::Vector3d dart::utils::VskParser::Options::defaultEllipsoidSize

The default shape for body node is ellipsoid.

The size of ellipsoid of each body node are determined by the relative transformation from a body node and its child body node. defaultEllipsoidSize is used for body nodes that don't have child body node.

◆ density

double dart::utils::VskParser::Options::density

Density of each ellipsoid that are used to compute mass.

◆ jointDampingCoefficient

double dart::utils::VskParser::Options::jointDampingCoefficient

Joint damping coefficient.

◆ jointFriction

double dart::utils::VskParser::Options::jointFriction

Joint Coulomb friction.

◆ jointPositionLowerLimit

double dart::utils::VskParser::Options::jointPositionLowerLimit

Lower limit of joint position.

◆ jointPositionUpperLimit

double dart::utils::VskParser::Options::jointPositionUpperLimit

Upper limit of joint position.

◆ removeEndBodyNodes

bool dart::utils::VskParser::Options::removeEndBodyNodes

Remove end BodyNodes with no Shape segment.

◆ retrieverOrNullptr

common::ResourceRetrieverPtr dart::utils::VskParser::Options::retrieverOrNullptr

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

◆ thicknessRatio

double dart::utils::VskParser::Options::thicknessRatio

Ratio of shorter radii of each ellipsoid to the longest radius where the longest radius is the distance between a body and its child body node.

Public Member Functions

Public Attributes