VskParser.hpp

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#ifndef DART_UTILS_VSKPARSER_HPP_
#define DART_UTILS_VSKPARSER_HPP_
 
#include "dart/common/ResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/math/Constants.hpp"
#include "dart/dynamics/Skeleton.hpp"
 
namespace dart {
namespace utils {
 
namespace VskParser
{
  struct Options
  {
    common::ResourceRetrieverPtr retrieverOrNullptr;
 
    Eigen::Vector3d defaultEllipsoidSize;
 
    double thicknessRatio;
 
    double density;
 
    double jointPositionLowerLimit;
 
    double jointPositionUpperLimit;
 
    double jointDampingCoefficient;
 
    double jointFriction;
 
    bool removeEndBodyNodes;
 
    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);
  };
 
  dynamics::SkeletonPtr readSkeleton(const common::Uri& fileUri,
                                     Options options = Options());
 
} // namespace VskParser
 
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_VSKPARSER_HPP_