MjcfCompiler Struct Reference

Informations that are stocked in the XML tag compile. More...

#include <pinocchio/parsers/mjcf/mjcf-graph.hpp>

Public Member Functions
double	convertAngle (const double &angle_) const
	Convert the angle in radian if model was declared to use degree.
Eigen::Matrix3d	convertEuler (const Eigen::Vector3d &angles) const
	Convert the euler angles according to the convention declared in the compile tag.

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

Detailed Description

Informations that are stocked in the XML tag compile.

Definition at line 39 of file mjcf-graph.hpp.

Member Function Documentation

convertAngle()

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

convertEuler()

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

Member Data Documentation

angle_converter

double angle_converter = boost::math::constants::pi<double>() / 180.0

Definition at line 53 of file mjcf-graph.hpp.

autolimits

bool autolimits = true

Definition at line 43 of file mjcf-graph.hpp.

boundInertia

double boundInertia = 0

Definition at line 60 of file mjcf-graph.hpp.

boundMass

double boundMass = 0

Definition at line 58 of file mjcf-graph.hpp.

inertiafromgeom

boost::logic::tribool inertiafromgeom = boost::logic::indeterminate

Definition at line 63 of file mjcf-graph.hpp.

mapEulerAngles

Eigen::Matrix3d mapEulerAngles = Eigen::Matrix3d::Identity()

Definition at line 55 of file mjcf-graph.hpp.

meshdir

std::string meshdir

Definition at line 48 of file mjcf-graph.hpp.

strippath

bool strippath = false

Definition at line 46 of file mjcf-graph.hpp.

texturedir

std::string texturedir

Definition at line 50 of file mjcf-graph.hpp.

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The documentation for this struct was generated from the following file:

• include/pinocchio/parsers/mjcf/mjcf-graph.hpp