Intermediate raw data read from the XML file. More...

#include <GeomAttributes.hpp>

Public Attributes
std::optional< std::string >	mName
	Name of the geom.

GeomType	mType {GeomType::SPHERE}
	Type of geometric shape.

int	mConType {1}

int	mConAffinity {1}

int	mConDim {3}

int	mGroup {0}

int	mPriority {0}

Eigen::Vector3d	mSize {Eigen::Vector3d::Zero()}
	Geom size parameters.

Eigen::Vector4d	mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}

Eigen::Vector3d	mFriction {Eigen::Vector3d(1, 0.005, 0.0001)}

std::optional< double >	mMass
	Mass.

double	mDensity {1000}
	Material density used to compute the geom mass and inertia.

double	mSolMix {1}
	Weight used for averaging of contact parameters, and interacts with the priority attribute.

double	mMargin {0}
	Distance threshold below which contacts are detected and included in the global array mjData.contact.

double	mGap {0}
	This attribute is used to enable the generation of inactive contacts, i.e.

std::optional< Eigen::Vector6d >	mFromTo
	This attribute can only be used with capsule, cylinder, ellipsoid and box geoms.

Eigen::Vector3d	mPos {Eigen::Vector3d::Zero()}
	Position of the geom frame, in local or global coordinates as determined by the coordinate attribute of compiler.

Eigen::Quaterniond	mQuat {Eigen::Quaterniond::Identity()}
	Quaternion.

std::optional< Eigen::Vector4d >	mAxisAngle
	These are the quantities (x, y, z, a) mentioned above.

std::optional< Eigen::Vector3d >	mEuler
	Rotation angles around three coordinate axes.

std::optional< Eigen::Vector6d >	mXYAxes
	The first 3 numbers are the X axis of the frame.

std::optional< Eigen::Vector3d >	mZAxis
	The Z axis of the frame.

std::optional< std::string >	mHField

std::optional< std::string >	mMesh

double	mFitScale {1}

Detailed Description

Intermediate raw data read from the XML file.

For the details, see http://www.mujoco.org/book/XMLreference.html#geom

Member Data Documentation

◆ mAxisAngle

std::optional<Eigen::Vector4d> dart::utils::MjcfParser::detail::GeomAttributes::mAxisAngle

These are the quantities (x, y, z, a) mentioned above.

The last number is the angle of rotation, in degrees or radians as specified by the angle attribute of compiler.

◆ mConAffinity

int dart::utils::MjcfParser::detail::GeomAttributes::mConAffinity {1}

◆ mConDim

int dart::utils::MjcfParser::detail::GeomAttributes::mConDim {3}

◆ mConType

int dart::utils::MjcfParser::detail::GeomAttributes::mConType {1}

◆ mDensity

double dart::utils::MjcfParser::detail::GeomAttributes::mDensity {1000}

Material density used to compute the geom mass and inertia.

◆ mEuler

std::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::GeomAttributes::mEuler

Rotation angles around three coordinate axes.

◆ mFitScale

double dart::utils::MjcfParser::detail::GeomAttributes::mFitScale {1}

◆ mFriction

Eigen::Vector3d dart::utils::MjcfParser::detail::GeomAttributes::mFriction {Eigen::Vector3d(1, 0.005, 0.0001)}

◆ mFromTo

std::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::GeomAttributes::mFromTo

This attribute can only be used with capsule, cylinder, ellipsoid and box geoms.

It provides an alternative specification of the geom length as well as the frame position and orientation.

◆ mGap

double dart::utils::MjcfParser::detail::GeomAttributes::mGap {0}

This attribute is used to enable the generation of inactive contacts, i.e.

contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations.

◆ mGroup

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

◆ mHField

std::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mHField

◆ mMargin

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

Distance threshold below which contacts are detected and included in the global array mjData.contact.

◆ mMass

std::optional<double> dart::utils::MjcfParser::detail::GeomAttributes::mMass

Mass.

◆ mMesh

std::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mMesh

◆ mName

std::optional<std::string> dart::utils::MjcfParser::detail::GeomAttributes::mName

Name of the geom.

◆ mPos

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

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

◆ mPriority

int dart::utils::MjcfParser::detail::GeomAttributes::mPriority {0}

◆ mQuat

Eigen::Quaterniond dart::utils::MjcfParser::detail::GeomAttributes::mQuat {Eigen::Quaterniond::Identity()}

Quaternion.

◆ mRGBA

Eigen::Vector4d dart::utils::MjcfParser::detail::GeomAttributes::mRGBA {Eigen::Vector4d(0.5, 0.5, 0.5, 1)}

◆ mSize

Eigen::Vector3d dart::utils::MjcfParser::detail::GeomAttributes::mSize {Eigen::Vector3d::Zero()}

Geom size parameters.

◆ mSolMix

double dart::utils::MjcfParser::detail::GeomAttributes::mSolMix {1}

Weight used for averaging of contact parameters, and interacts with the priority attribute.

◆ mType

GeomType dart::utils::MjcfParser::detail::GeomAttributes::mType {GeomType::SPHERE}

Type of geometric shape.

◆ mXYAxes

std::optional<Eigen::Vector6d> dart::utils::MjcfParser::detail::GeomAttributes::mXYAxes

The first 3 numbers are the X axis of the frame.

The next 3 numbers are the Y axis of the frame, which is automatically made orthogonal to the X axis. The Z axis is then defined as the cross-product of the X and Y axes.

◆ mZAxis

std::optional<Eigen::Vector3d> dart::utils::MjcfParser::detail::GeomAttributes::mZAxis

The Z axis of the frame.

Public Attributes