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SDFExtension.hh
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1/*
2 * Copyright 2015 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _SDFORMAT_SDFEXTENSION_HH_
19#define _SDFORMAT_SDFEXTENSION_HH_
20
21#include <tinyxml.h>
22
23#include <memory>
24#include <string>
25#include <vector>
26
27#include <ignition/math/Pose3.hh>
28
29#include "sdf/Types.hh"
30
31namespace sdf
32{
36 {
38 public: SDFExtension();
39
42 public: SDFExtension(const SDFExtension &_ge);
43
45 public: virtual ~SDFExtension() = default;
46
47 // for reducing fixed joints and removing links
48 public: std::string oldLinkName;
49 public: ignition::math::Pose3d reductionTransform;
50
51 // visual material
52 public: std::string material;
53
55 public: std::vector<std::shared_ptr<TiXmlElement> > visual_blobs;
56
82 public: std::vector<std::shared_ptr<TiXmlElement> > collision_blobs;
83
84 // body, default off
85 public: bool setStaticFlag;
86 public: bool gravity;
87 public: bool isDampingFactor;
88 public: double dampingFactor;
89 public: bool isMaxContacts;
90 public: int maxContacts;
91 public: bool isMaxVel;
92 public: double maxVel;
93 public: bool isMinDepth;
94 public: double minDepth;
95 public: bool isSelfCollide;
96 public: bool selfCollide;
97
98 // geom, contact dynamics
99 public: bool isMu1, isMu2, isKp, isKd;
100 public: double mu1, mu2, kp, kd;
101 public: std::string fdir1;
102 public: bool isLaserRetro;
103 public: double laserRetro;
104
105 // joint, joint limit dynamics
107 public: double stopCfm, stopErp, fudgeFactor;
110 public: bool isProvideFeedback;
111 public: bool provideFeedback;
114
115 // blobs into body or robot
116 public: std::vector<std::shared_ptr<TiXmlElement> > blobs;
117
119 };
120}
121#endif
std::string oldLinkName
Definition SDFExtension.hh:48
bool isSpringStiffness
Definition SDFExtension.hh:108
bool setStaticFlag
Definition SDFExtension.hh:85
double minDepth
Definition SDFExtension.hh:94
virtual ~SDFExtension()=default
Destructor.
bool isDampingFactor
Definition SDFExtension.hh:87
bool isProvideFeedback
Definition SDFExtension.hh:110
ignition::math::Pose3d reductionTransform
Definition SDFExtension.hh:49
bool isStopCfm
Definition SDFExtension.hh:106
bool selfCollide
Definition SDFExtension.hh:96
double maxVel
Definition SDFExtension.hh:92
double mu1
Definition SDFExtension.hh:100
bool isLaserRetro
Definition SDFExtension.hh:102
bool isMaxVel
Definition SDFExtension.hh:91
double springReference
Definition SDFExtension.hh:109
bool isFudgeFactor
Definition SDFExtension.hh:106
bool gravity
Definition SDFExtension.hh:86
bool isKp
Definition SDFExtension.hh:99
bool isMu1
Definition SDFExtension.hh:99
double mu2
Definition SDFExtension.hh:100
std::vector< std::shared_ptr< TiXmlElement > > blobs
Definition SDFExtension.hh:116
double kd
Definition SDFExtension.hh:100
int maxContacts
Definition SDFExtension.hh:90
bool isSpringReference
Definition SDFExtension.hh:108
double springStiffness
Definition SDFExtension.hh:109
std::vector< std::shared_ptr< TiXmlElement > > visual_blobs
blobs of xml to be copied into the visual sdf element
Definition SDFExtension.hh:55
bool isKd
Definition SDFExtension.hh:99
bool isImplicitSpringDamper
Definition SDFExtension.hh:112
std::string fdir1
Definition SDFExtension.hh:101
bool isStopErp
Definition SDFExtension.hh:106
std::vector< std::shared_ptr< TiXmlElement > > collision_blobs
blobs of xml to be copied into the collision sdf element An example might be: <gazebo reference="link...
Definition SDFExtension.hh:82
bool isMinDepth
Definition SDFExtension.hh:93
double dampingFactor
Definition SDFExtension.hh:88
double stopErp
Definition SDFExtension.hh:107
friend class SDFORMAT_VISIBLE URDF2SDF
Definition SDFExtension.hh:118
bool isMu2
Definition SDFExtension.hh:99
bool isMaxContacts
Definition SDFExtension.hh:89
bool isSelfCollide
Definition SDFExtension.hh:95
double kp
Definition SDFExtension.hh:100
std::string material
Definition SDFExtension.hh:52
SDFExtension(const SDFExtension &_ge)
Copy constructor.
bool implicitSpringDamper
Definition SDFExtension.hh:113
SDFExtension()
Constructor.
double laserRetro
Definition SDFExtension.hh:103
double stopCfm
Definition SDFExtension.hh:107
double fudgeFactor
Definition SDFExtension.hh:107
bool provideFeedback
Definition SDFExtension.hh:111
namespace for Simulation Description Format parser
Definition Console.hh:36
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition system_util.hh:48