Struct MjcfGeom

Struct Documentation

struct MjcfGeom

Public Types

enum TYPE

Values:

enumerator VISUAL
enumerator COLLISION
enumerator BOTH
typedef boost::property_tree::ptree ptree

Public Functions

void findKind()

Find the geometry kind.

void computeSize()

Compute Geometry size based on sizeS and fromtoS.

void computeInertia()

Compute geometry inertia.

void fill(const ptree &el, const MjcfBody &currentBody, const MjcfGraph &currentGraph)

Fill Geometry element with info from ptree nodes.

void goThroughElement(const ptree &el, const MjcfGraph &currentGraph)

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

Public Members

std::string geomName
std::string geomType = "sphere"
TYPE geomKind = BOTH
int contype = 1
int conaffinity = 1
int group = 0
std::string sizeS
boost::optional<std::string> fromtoS
Eigen::VectorXd size
Eigen::Vector4d rgba = Eigen::Vector4d::Constant(1)
std::string materialName
std::string meshName
double density = 1000
bool shellinertia = false
SE3 geomPlacement = SE3::Identity()
Inertia geomInertia = Inertia::Identity()
boost::optional<double> massGeom