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.

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

Public Types