Struct MjcfJoint
Defined in File mjcf-graph.hpp
Struct Documentation
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struct MjcfJoint
All joint information parsed from the mjcf model.
Public Types
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typedef boost::property_tree::ptree ptree
Public Functions
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void fill(const ptree &el, const MjcfBody ¤tBody, const MjcfGraph ¤tGraph)
- Parameters:
el – ptree joint node
currentBody – body to which the joint belongs to
currentGraph – current Mjcf graph (needed to get compiler information)
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void goThroughElement(const ptree &el, bool use_limits, const MjcfCompiler ¤tCompiler)
Go through a joint node (default class or not) and parse info into the structure.
- Parameters:
el – ptree joint node
use_limits – whether to parse the limits or not
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typedef boost::property_tree::ptree ptree