Struct MjcfGeom
Defined in File mjcf-graph.hpp
Struct Documentation
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struct MjcfGeom
Public Types
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typedef boost::property_tree::ptree ptree
Public Functions
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void findKind()
Find the geometry kind.
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void computeSize()
Compute Geometry size based on sizeS and fromtoS.
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void computeInertia()
Compute geometry inertia.
Public Members
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std::string geomName
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std::string geomType = "sphere"
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int contype = 1
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int conaffinity = 1
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int group = 0
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std::string sizeS
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boost::optional<std::string> fromtoS
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Eigen::VectorXd size
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Eigen::Vector4d rgba = Eigen::Vector4d::Constant(1)
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std::string materialName
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std::string meshName
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double density = 1000
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bool shellinertia = false
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SE3 geomPlacement = SE3::Identity()
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Inertia geomInertia = Inertia::Identity()
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boost::optional<double> massGeom
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typedef boost::property_tree::ptree ptree