Public Types
typedef boost::property_tree::ptree	ptree

enum	TYPE { VISUAL , COLLISION , BOTH }

Public Member Functions
void	computeInertia ()
	Compute geometry inertia.

void	computeSize ()
	Compute Geometry size based on sizeS and fromtoS.

void	fill (const ptree &el, const MjcfBody &currentBody, const MjcfGraph &currentGraph)
	Fill Geometry element with info from ptree nodes.

void	findKind ()
	Find the geometry kind.

void	goThroughElement (const ptree &el, const MjcfGraph &currentGraph)
	@bried Go through a geom ptree node, to gather informations

Public Attributes
int	conaffinity = 1

int	contype = 1

double	density = 1000

boost::optional< std::string >	fromtoS

Inertia	geomInertia = Inertia::Identity()

TYPE	geomKind = BOTH

std::string	geomName

SE3	geomPlacement = SE3::Identity()

std::string	geomType = "sphere"

int	group = 0

boost::optional< double >	massGeom

std::string	materialName

std::string	meshName

Eigen::Vector4d	rgba = Eigen::Vector4d::Constant(1)

bool	shellinertia = false

Eigen::VectorXd	size

std::string	sizeS

Detailed Description

Definition at line 249 of file mjcf-graph.hpp.

Member Typedef Documentation

◆ ptree

typedef boost::property_tree::ptree ptree

Definition at line 252 of file mjcf-graph.hpp.

Member Enumeration Documentation

◆ TYPE

enum TYPE

Definition at line 255 of file mjcf-graph.hpp.

Member Data Documentation

◆ conaffinity

int conaffinity = 1

Definition at line 272 of file mjcf-graph.hpp.

◆ contype

int contype = 1

Definition at line 271 of file mjcf-graph.hpp.

◆ density

double density = 1000

Definition at line 292 of file mjcf-graph.hpp.

◆ fromtoS

boost::optional<std::string> fromtoS

Definition at line 279 of file mjcf-graph.hpp.

◆ geomInertia

Inertia geomInertia = Inertia::Identity()

Definition at line 299 of file mjcf-graph.hpp.

◆ geomKind

TYPE geomKind = BOTH

Definition at line 268 of file mjcf-graph.hpp.

◆ geomName

std::string geomName

Definition at line 262 of file mjcf-graph.hpp.

◆ geomPlacement

SE3 geomPlacement = SE3::Identity()

Definition at line 297 of file mjcf-graph.hpp.

◆ geomType

std::string geomType = "sphere"

Definition at line 265 of file mjcf-graph.hpp.

◆ group

int group = 0

Definition at line 274 of file mjcf-graph.hpp.

◆ massGeom

boost::optional<double> massGeom

Definition at line 301 of file mjcf-graph.hpp.

◆ materialName

std::string materialName

Definition at line 287 of file mjcf-graph.hpp.

◆ meshName

std::string meshName

Definition at line 289 of file mjcf-graph.hpp.

◆ rgba

Eigen::Vector4d rgba = Eigen::Vector4d::Constant(1)

Definition at line 284 of file mjcf-graph.hpp.

◆ shellinertia

bool shellinertia = false

Definition at line 294 of file mjcf-graph.hpp.

◆ size

Eigen::VectorXd size

Definition at line 281 of file mjcf-graph.hpp.

◆ sizeS

std::string sizeS

Definition at line 277 of file mjcf-graph.hpp.

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

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

Public Types

Public Member Functions

Public Attributes