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.
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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 
31 namespace 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;
113  public: bool implicitSpringDamper;
114 
115  // blobs into body or robot
116  public: std::vector<std::shared_ptr<TiXmlElement> > blobs;
117 
119  };
120 }
121 #endif
sdf::SDFExtension::isSpringStiffness
bool isSpringStiffness
Definition: SDFExtension.hh:108
sdf::SDFExtension::springReference
double springReference
Definition: SDFExtension.hh:109
sdf::SDFExtension::kd
double kd
Definition: SDFExtension.hh:100
sdf::SDFExtension::isSpringReference
bool isSpringReference
Definition: SDFExtension.hh:108
sdf::SDFExtension::stopCfm
double stopCfm
Definition: SDFExtension.hh:107
sdf::SDFExtension
Definition: SDFExtension.hh:35
sdf::SDFExtension::laserRetro
double laserRetro
Definition: SDFExtension.hh:103
sdf::SDFExtension::isMu1
bool isMu1
Definition: SDFExtension.hh:99
sdf
namespace for Simulation Description Format parser
Definition: Console.hh:35
sdf::SDFExtension::minDepth
double minDepth
Definition: SDFExtension.hh:94
sdf::SDFExtension::kp
double kp
Definition: SDFExtension.hh:100
sdf::SDFExtension::material
std::string material
Definition: SDFExtension.hh:52
sdf::SDFExtension::selfCollide
bool selfCollide
Definition: SDFExtension.hh:96
sdf::SDFExtension::visual_blobs
std::vector< std::shared_ptr< TiXmlElement > > visual_blobs
blobs of xml to be copied into the visual sdf element
Definition: SDFExtension.hh:55
sdf::SDFExtension::isSelfCollide
bool isSelfCollide
Definition: SDFExtension.hh:95
sdf::SDFExtension::setStaticFlag
bool setStaticFlag
Definition: SDFExtension.hh:85
sdf::SDFExtension::stopErp
double stopErp
Definition: SDFExtension.hh:107
sdf::SDFExtension::isDampingFactor
bool isDampingFactor
Definition: SDFExtension.hh:87
sdf::SDFExtension::maxVel
double maxVel
Definition: SDFExtension.hh:92
sdf::SDFExtension::dampingFactor
double dampingFactor
Definition: SDFExtension.hh:88
sdf::SDFExtension::springStiffness
double springStiffness
Definition: SDFExtension.hh:109
Types.hh
sdf::SDFExtension::reductionTransform
ignition::math::Pose3d reductionTransform
Definition: SDFExtension.hh:49
sdf::SDFExtension::isImplicitSpringDamper
bool isImplicitSpringDamper
Definition: SDFExtension.hh:112
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::SDFExtension::isMinDepth
bool isMinDepth
Definition: SDFExtension.hh:93
sdf::SDFExtension::isFudgeFactor
bool isFudgeFactor
Definition: SDFExtension.hh:106
sdf::SDFExtension::implicitSpringDamper
bool implicitSpringDamper
Definition: SDFExtension.hh:113
sdf::SDFExtension::isLaserRetro
bool isLaserRetro
Definition: SDFExtension.hh:102
sdf::SDFExtension::fdir1
std::string fdir1
Definition: SDFExtension.hh:101
sdf::SDFExtension::isMaxVel
bool isMaxVel
Definition: SDFExtension.hh:91
sdf::SDFExtension::isStopCfm
bool isStopCfm
Definition: SDFExtension.hh:106
sdf::SDFExtension::gravity
bool gravity
Definition: SDFExtension.hh:86
sdf::SDFExtension::~SDFExtension
virtual ~SDFExtension()=default
Destructor.
sdf::SDFExtension::isKd
bool isKd
Definition: SDFExtension.hh:99
sdf::SDFExtension::isMu2
bool isMu2
Definition: SDFExtension.hh:99
sdf::SDFExtension::oldLinkName
std::string oldLinkName
Definition: SDFExtension.hh:48
sdf::SDFExtension::mu1
double mu1
Definition: SDFExtension.hh:100
sdf::SDFExtension::mu2
double mu2
Definition: SDFExtension.hh:100
sdf::SDFExtension::SDFExtension
SDFExtension()
Constructor.
sdf::SDFExtension::isStopErp
bool isStopErp
Definition: SDFExtension.hh:106
sdf::SDFExtension::collision_blobs
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
sdf::SDFExtension::provideFeedback
bool provideFeedback
Definition: SDFExtension.hh:111
sdf::SDFExtension::isMaxContacts
bool isMaxContacts
Definition: SDFExtension.hh:89
sdf::SDFExtension::fudgeFactor
double fudgeFactor
Definition: SDFExtension.hh:107
sdf::URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:30
sdf::SDFExtension::isProvideFeedback
bool isProvideFeedback
Definition: SDFExtension.hh:110
sdf::SDFExtension::maxContacts
int maxContacts
Definition: SDFExtension.hh:90
sdf::SDFExtension::blobs
std::vector< std::shared_ptr< TiXmlElement > > blobs
Definition: SDFExtension.hh:116
sdf::SDFExtension::isKp
bool isKp
Definition: SDFExtension.hh:99