Namespaces
	internal

Classes
struct	MjcfBody
	All Bodies informations extracted from mjcf model. More...

struct	MjcfClass
	Structure to stock all default classes information. More...

struct	MjcfCompiler
	Informations that are stocked in the XML tag compile. More...

struct	MjcfEquality

struct	MjcfGeom

struct	MjcfGraph
	The graph which contains all information taken from the mjcf file. More...

struct	MjcfJoint
	All joint information parsed from the mjcf model. More...

struct	MjcfMaterial
	All informations related to material are stored here. More...

struct	MjcfMesh
	All informations related to a mesh are stored here. More...

struct	MjcfSite

struct	MjcfTexture
	All informations related to a texture are stored here. More...

struct	RangeJoint
	All joint limits. More...

Typedefs
typedef boost::property_tree::ptree	ptree

typedef pinocchio::urdf::details::UrdfVisitor< double, 0, ::pinocchio::JointCollectionDefaultTpl >	UrdfVisitor

Functions
static void	addLinksToGeomModel (const MjcfBody &currentBody, const MjcfGraph &currentGraph, GeometryModel &geomModel, ::hpp::fcl::MeshLoaderPtr &meshLoader, const GeometryType &type)
	Add all geometries associated with a body. More...

static double	computeVolume (const Eigen::VectorXd &size, const std::string &geomType)

static void	copyPtree (const ptree &src, ptree &dst)
	Copy the value of ptree src into dst. More...

static std::string	getName (const ptree &el, const boost::filesystem::path &filePath)

bool	isType (const MjcfGeom &geom, const GeometryType &type)

static std::shared_ptr< fcl::CollisionGeometry >	retrieveCollisionGeometry (::hpp::fcl::MeshLoaderPtr &, const MjcfGeom &, const MjcfGraph &, std::string &, Eigen::Vector3d &)
	Get a fcl::CollisionObject from an mjcf geometry, searching for it in specified package directories. More...

static void	updateClassElement (ptree &current, const ptree &parent)
	Update class Element in order to have all info of parent classes. More...

static boost::filesystem::path	updatePath (bool strippath, const std::string &dir, const std::string &modelPath, const boost::filesystem::path &filePath)

Variables
static const std::array< std::string, 3 >	ELEMENTS = {"joint", "geom", "site"}

Typedef Documentation

◆ ptree

typedef boost::property_tree::ptree pinocchio::mjcf::details::ptree

Definition at line 15 of file mjcf-graph.cpp.

◆ UrdfVisitor

typedef pinocchio::urdf::details:: UrdfVisitor<double, 0, ::pinocchio::JointCollectionDefaultTpl> pinocchio::mjcf::details::UrdfVisitor

Definition at line 18 of file mjcf-graph.cpp.

Function Documentation

◆ addLinksToGeomModel()

static void pinocchio::mjcf::details::addLinksToGeomModel	(	const MjcfBody &	currentBody,
		const MjcfGraph &	currentGraph,
		GeometryModel &	geomModel,
		::hpp::fcl::MeshLoaderPtr &	meshLoader,
		const GeometryType &	type
	)

static

Add all geometries associated with a body.

Parameters

currentBody	Body from which geometries will be collected
type	Type of geometry to parse (COLLISION or VISUAL)
geomModel	geometry model to fill
meshLoader	mesh loader from hpp::fcl

Definition at line 157 of file mjcf-graph-geom.cpp.

◆ computeVolume()

static double pinocchio::mjcf::details::computeVolume	(	const Eigen::VectorXd &	size,
		const std::string &	geomType
	)

static

Definition at line 19 of file mjcf-graph-geom.cpp.

◆ copyPtree()

static void pinocchio::mjcf::details::copyPtree	(	const ptree &	src,
		ptree &	dst
	)

static

Copy the value of ptree src into dst.

Parameters

src	ptree to copy
dst	ptree where copy is made

Definition at line 26 of file mjcf-graph.cpp.

◆ getName()

static std::string pinocchio::mjcf::details::getName	(	const ptree &	el,
		const boost::filesystem::path &	filePath
	)

static

Definition at line 54 of file mjcf-graph.cpp.

◆ isType()

bool pinocchio::mjcf::details::isType	(	const MjcfGeom &	geom,
		const GeometryType &	type
	)

Definition at line 48 of file mjcf-graph-geom.cpp.

◆ retrieveCollisionGeometry()

static std::shared_ptr<fcl::CollisionGeometry> pinocchio::mjcf::details::retrieveCollisionGeometry	(	::hpp::fcl::MeshLoaderPtr &	,
		const MjcfGeom &	,
		const MjcfGraph &	,
		std::string &	,
		Eigen::Vector3d &
	)

static

Get a fcl::CollisionObject from an mjcf geometry, searching for it in specified package directories.

Parameters

[in] geom A mjcf geometry object

Returns: A shared pointer on the geometry converted as a fcl::CollisionGeometry

Definition at line 141 of file mjcf-graph-geom.cpp.

◆ updateClassElement()

static void pinocchio::mjcf::details::updateClassElement	(	ptree &	current,
		const ptree &	parent
	)

static

Update class Element in order to have all info of parent classes.

Parameters

current	current class
dst	parent class

Definition at line 35 of file mjcf-graph.cpp.

◆ updatePath()

static boost::filesystem::path pinocchio::mjcf::details::updatePath	(	bool	strippath,
		const std::string &	dir,
		const std::string &	modelPath,
		const boost::filesystem::path &	filePath
	)

static

Definition at line 74 of file mjcf-graph.cpp.

Variable Documentation

◆ ELEMENTS

const std::array<std::string, 3> pinocchio::mjcf::details::ELEMENTS = {"joint", "geom", "site"}

static

Definition at line 21 of file mjcf-graph.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ ptree

◆ UrdfVisitor

Function Documentation

◆ addLinksToGeomModel()

◆ computeVolume()

◆ copyPtree()

◆ getName()

◆ isType()

◆ retrieveCollisionGeometry()

◆ updateClassElement()

◆ updatePath()

Variable Documentation

◆ ELEMENTS