#include <mjcf-graph.hpp>

Public Types
typedef boost::property_tree::ptree	ptree

enum	TYPE { VISUAL, COLLISION, BOTH }

Public Member Functions
void	computeInertia ()
	Compute geometry inertia. More...

void	computeSize ()
	Compute Geometry size based on sizeS and fromtoS. More...

void	fill (const ptree &el, const MjcfBody &currentBody, const MjcfGraph &currentGraph)
	Fill Geometry element with info from ptree nodes. More...

void	findKind ()
	Find the geometry kind. More...

void	goThroughElement (const ptree &el, const MjcfGraph &currentGraph)
	@bried Go through a geom ptree node, to gather informations More...

Public Attributes
int	conaffinity = 1

int	contype = 1

double	density = 1000

boost::optional< std::string >	fromtoS

Inertia	geomInertia = Inertia::Identity()

TYPE	geomKind = BOTH

std::string	geomName

SE3	geomPlacement = SE3::Identity()

std::string	geomType = "sphere"

int	group = 0

boost::optional< double >	massGeom

std::string	materialName

std::string	meshName

Eigen::Vector4d	rgba = Eigen::Vector4d::Constant(1)

bool	shellinertia = false

Eigen::VectorXd	size

std::string	sizeS

Detailed Description

Definition at line 247 of file mjcf-graph.hpp.

Member Typedef Documentation

◆ ptree

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

Definition at line 250 of file mjcf-graph.hpp.

Member Enumeration Documentation

◆ TYPE

enum pinocchio::mjcf::details::MjcfGeom::TYPE

Enumerator
VISUAL
COLLISION
BOTH

Definition at line 253 of file mjcf-graph.hpp.

Member Function Documentation

◆ computeInertia()

void pinocchio::mjcf::details::MjcfGeom::computeInertia ( )

Compute geometry inertia.

Definition at line 365 of file mjcf-graph-geom.cpp.

◆ computeSize()

void pinocchio::mjcf::details::MjcfGeom::computeSize ( )

Compute Geometry size based on sizeS and fromtoS.

Definition at line 303 of file mjcf-graph-geom.cpp.

◆ fill()

void pinocchio::mjcf::details::MjcfGeom::fill	(	const ptree &	el,
		const MjcfBody &	currentBody,
		const MjcfGraph &	currentGraph
	)

Fill Geometry element with info from ptree nodes.

Definition at line 403 of file mjcf-graph-geom.cpp.

◆ findKind()

void pinocchio::mjcf::details::MjcfGeom::findKind ( )

Find the geometry kind.

Definition at line 292 of file mjcf-graph-geom.cpp.

◆ goThroughElement()

void pinocchio::mjcf::details::MjcfGeom::goThroughElement	(	const ptree &	el,
		const MjcfGraph &	currentGraph
	)

@bried Go through a geom ptree node, to gather informations

Definition at line 223 of file mjcf-graph-geom.cpp.

Member Data Documentation

◆ conaffinity

int pinocchio::mjcf::details::MjcfGeom::conaffinity = 1

Definition at line 270 of file mjcf-graph.hpp.

◆ contype

int pinocchio::mjcf::details::MjcfGeom::contype = 1

Definition at line 269 of file mjcf-graph.hpp.

◆ density

double pinocchio::mjcf::details::MjcfGeom::density = 1000

Definition at line 290 of file mjcf-graph.hpp.

◆ fromtoS

boost::optional<std::string> pinocchio::mjcf::details::MjcfGeom::fromtoS

Definition at line 277 of file mjcf-graph.hpp.

◆ geomInertia

Inertia pinocchio::mjcf::details::MjcfGeom::geomInertia = Inertia::Identity()

Definition at line 297 of file mjcf-graph.hpp.

◆ geomKind

TYPE pinocchio::mjcf::details::MjcfGeom::geomKind = BOTH

Definition at line 266 of file mjcf-graph.hpp.

◆ geomName

std::string pinocchio::mjcf::details::MjcfGeom::geomName

Definition at line 260 of file mjcf-graph.hpp.

◆ geomPlacement

SE3 pinocchio::mjcf::details::MjcfGeom::geomPlacement = SE3::Identity()

Definition at line 295 of file mjcf-graph.hpp.

◆ geomType

std::string pinocchio::mjcf::details::MjcfGeom::geomType = "sphere"

Definition at line 263 of file mjcf-graph.hpp.

◆ group

int pinocchio::mjcf::details::MjcfGeom::group = 0

Definition at line 272 of file mjcf-graph.hpp.

◆ massGeom

boost::optional<double> pinocchio::mjcf::details::MjcfGeom::massGeom

Definition at line 299 of file mjcf-graph.hpp.

◆ materialName

std::string pinocchio::mjcf::details::MjcfGeom::materialName

Definition at line 285 of file mjcf-graph.hpp.

◆ meshName

std::string pinocchio::mjcf::details::MjcfGeom::meshName

Definition at line 287 of file mjcf-graph.hpp.

◆ rgba

Eigen::Vector4d pinocchio::mjcf::details::MjcfGeom::rgba = Eigen::Vector4d::Constant(1)

Definition at line 282 of file mjcf-graph.hpp.

◆ shellinertia

bool pinocchio::mjcf::details::MjcfGeom::shellinertia = false

Definition at line 292 of file mjcf-graph.hpp.

◆ size

Eigen::VectorXd pinocchio::mjcf::details::MjcfGeom::size

Definition at line 279 of file mjcf-graph.hpp.

◆ sizeS

std::string pinocchio::mjcf::details::MjcfGeom::sizeS

Definition at line 275 of file mjcf-graph.hpp.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Public Attributes