dart::utils::MjcfParser::detail::Option Class Reference

#include <Option.hpp>

Public Member Functions
	Option ()=default
double	getTimestep () const
double	getApiRate () const
double	getImpRatio () const
const Eigen::Vector3d &	getGravity () const
const Eigen::Vector3d &	getWind () const
const Eigen::Vector3d &	getMagnetic () const
double	getDensity () const
double	getViscosity () const
Integrator	getIntegrator () const
CollisionType	getCollision () const
ConeType	getCone () const
JacobianType	getJacobian () const
SolverType	getSolver () const
int	getIterations () const
double	getTolerance () const
int	getNoSlipIterations () const
double	getNoSlipTolerance () const
int	getMprIterations () const
double	getMprTolerance () const

Private Member Functions
Errors	read (tinyxml2::XMLElement *element)

Private Attributes
double	mTimestep {0.002}
double	mApiRate {100}
double	mImpRatio {1}
Eigen::Vector3d	mGravity {Eigen::Vector3d(0, 0, -9.81)}
Eigen::Vector3d	mWind {Eigen::Vector3d::Zero()}
Eigen::Vector3d	mMagnetic {Eigen::Vector3d(0, -0.5, 0)}
double	mDensity {0}
double	mViscosity {0}
Integrator	mIntegrator {Integrator::EULER}
CollisionType	mCollision {CollisionType::ALL}
ConeType	mCone {ConeType::PYRAMIDAL}
JacobianType	mJacobian {JacobianType::AUTO}
SolverType	mSolver {SolverType::NEWTON}
int	mIterations {100}
double	mTolerance {1e-8}
int	mNoSlipIterations {0}
double	mNoSlipTolerance {1e-6}
int	mMprIterations {50}
double	mMprTolerance {1e-6}

Friends
class	MujocoModel

Constructor & Destructor Documentation

Option()

dart::utils::MjcfParser::detail::Option::Option ( )

default

Member Function Documentation

getApiRate()

double dart::utils::MjcfParser::detail::Option::getApiRate

(

)

const

getCollision()

CollisionType dart::utils::MjcfParser::detail::Option::getCollision

(

)

const

getCone()

ConeType dart::utils::MjcfParser::detail::Option::getCone

(

)

const

getDensity()

double dart::utils::MjcfParser::detail::Option::getDensity

(

)

const

getGravity()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Option::getGravity

(

)

const

getImpRatio()

double dart::utils::MjcfParser::detail::Option::getImpRatio

(

)

const

getIntegrator()

Integrator dart::utils::MjcfParser::detail::Option::getIntegrator

(

)

const

getIterations()

int dart::utils::MjcfParser::detail::Option::getIterations

(

)

const

getJacobian()

JacobianType dart::utils::MjcfParser::detail::Option::getJacobian

(

)

const

getMagnetic()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Option::getMagnetic

(

)

const

getMprIterations()

int dart::utils::MjcfParser::detail::Option::getMprIterations

(

)

const

getMprTolerance()

double dart::utils::MjcfParser::detail::Option::getMprTolerance

(

)

const

getNoSlipIterations()

int dart::utils::MjcfParser::detail::Option::getNoSlipIterations

(

)

const

getNoSlipTolerance()

double dart::utils::MjcfParser::detail::Option::getNoSlipTolerance

(

)

const

getSolver()

SolverType dart::utils::MjcfParser::detail::Option::getSolver

(

)

const

getTimestep()

double dart::utils::MjcfParser::detail::Option::getTimestep

(

)

const

getTolerance()

double dart::utils::MjcfParser::detail::Option::getTolerance

(

)

const

getViscosity()

double dart::utils::MjcfParser::detail::Option::getViscosity

(

)

const

getWind()

const Eigen::Vector3d & dart::utils::MjcfParser::detail::Option::getWind

(

)

const

read()

Errors dart::utils::MjcfParser::detail::Option::read ( tinyxml2::XMLElement *  element )

private

Friends And Related Symbol Documentation

MujocoModel

friend class MujocoModel

friend

Member Data Documentation

mApiRate

double dart::utils::MjcfParser::detail::Option::mApiRate {100}

private

mCollision

CollisionType dart::utils::MjcfParser::detail::Option::mCollision {CollisionType::ALL}

private

mCone

ConeType dart::utils::MjcfParser::detail::Option::mCone {ConeType::PYRAMIDAL}

private

mDensity

double dart::utils::MjcfParser::detail::Option::mDensity {0}

private

mGravity

Eigen::Vector3d dart::utils::MjcfParser::detail::Option::mGravity {Eigen::Vector3d(0, 0, -9.81)}

private

mImpRatio

double dart::utils::MjcfParser::detail::Option::mImpRatio {1}

private

mIntegrator

Integrator dart::utils::MjcfParser::detail::Option::mIntegrator {Integrator::EULER}

private

mIterations

int dart::utils::MjcfParser::detail::Option::mIterations {100}

private

mJacobian

JacobianType dart::utils::MjcfParser::detail::Option::mJacobian {JacobianType::AUTO}

private

mMagnetic

Eigen::Vector3d dart::utils::MjcfParser::detail::Option::mMagnetic {Eigen::Vector3d(0, -0.5, 0)}

private

mMprIterations

int dart::utils::MjcfParser::detail::Option::mMprIterations {50}

private

mMprTolerance

double dart::utils::MjcfParser::detail::Option::mMprTolerance {1e-6}

private

mNoSlipIterations

int dart::utils::MjcfParser::detail::Option::mNoSlipIterations {0}

private

mNoSlipTolerance

double dart::utils::MjcfParser::detail::Option::mNoSlipTolerance {1e-6}

private

mSolver

SolverType dart::utils::MjcfParser::detail::Option::mSolver {SolverType::NEWTON}

private

mTimestep

double dart::utils::MjcfParser::detail::Option::mTimestep {0.002}

private

mTolerance

double dart::utils::MjcfParser::detail::Option::mTolerance {1e-8}

private

mViscosity

double dart::utils::MjcfParser::detail::Option::mViscosity {0}

private

mWind

Eigen::Vector3d dart::utils::MjcfParser::detail::Option::mWind {Eigen::Vector3d::Zero()}

private