Struct MjcfCompiler
Defined in File mjcf-graph.hpp
Struct Documentation
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struct MjcfCompiler
Informations that are stocked in the XML tag compile.
Public Functions
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double convertAngle(const double &angle_) const
Convert the angle in radian if model was declared to use degree.
- Parameters:
angle_ – angle to convert
- Returns:
converted angle
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Eigen::Matrix3d convertEuler(const Eigen::Vector3d &angles) const
Convert the euler angles according to the convention declared in the compile tag.
- Parameters:
angles – Euler angles
- Returns:
Quaternion representation of the euler angles
Public Members
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bool autolimits = true
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bool strippath = false
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std::string meshdir
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std::string texturedir
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double angle_converter = boost::math::constants::pi<double>() / 180.0
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Eigen::Matrix3d mapEulerAngles = Eigen::Matrix3d::Identity()
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double boundMass = 0
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double boundInertia = 0
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boost::logic::tribool inertiafromgeom = boost::logic::indeterminate
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double convertAngle(const double &angle_) const