Struct MjcfCompiler

Struct Documentation

struct MjcfCompiler

Informations that are stocked in the XML tag compile.

Public Functions

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

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

bool autolimits = true
bool strippath = false
std::string meshdir
std::string texturedir
double angle_converter = boost::math::constants::pi<double>() / 180.0
Eigen::Matrix3d mapEulerAngles = Eigen::Matrix3d::Identity()
double boundMass = 0
double boundInertia = 0
boost::logic::tribool inertiafromgeom = boost::logic::indeterminate