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/sdf_config.h>
30 #include "sdf/Types.hh"
31 
32 namespace sdf
33 {
34  // Inline bracket to help doxygen filtering.
35  inline namespace SDF_VERSION_NAMESPACE {
36  //
37 
41  {
43  public: SDFExtension();
44 
47  public: SDFExtension(const SDFExtension &_ge);
48 
50  public: virtual ~SDFExtension() = default;
51 
52  // for reducing fixed joints and removing links
53  public: std::string oldLinkName;
54  public: ignition::math::Pose3d reductionTransform;
55 
56  // visual material
57  public: std::string material;
58 
60  public: std::vector<std::shared_ptr<TiXmlElement> > visual_blobs;
61 
87  public: std::vector<std::shared_ptr<TiXmlElement> > collision_blobs;
88 
89  // body, default off
90  public: bool setStaticFlag;
91  public: bool gravity;
92  public: bool isDampingFactor;
93  public: double dampingFactor;
94  public: bool isMaxContacts;
95  public: int maxContacts;
96  public: bool isMaxVel;
97  public: double maxVel;
98  public: bool isMinDepth;
99  public: double minDepth;
100  public: bool isSelfCollide;
101  public: bool selfCollide;
102 
103  // geom, contact dynamics
104  public: bool isMu1, isMu2, isKp, isKd;
105  public: double mu1, mu2, kp, kd;
106  public: std::string fdir1;
107  public: bool isLaserRetro;
108  public: double laserRetro;
109 
110  // joint, joint limit dynamics
111  public: bool isStopCfm, isStopErp, isFudgeFactor;
112  public: double stopCfm, stopErp, fudgeFactor;
113  public: bool isSpringReference, isSpringStiffness;
114  public: double springReference, springStiffness;
115  public: bool isProvideFeedback;
116  public: bool provideFeedback;
118  public: bool implicitSpringDamper;
119 
120  // blobs into body or robot
121  public: std::vector<std::shared_ptr<TiXmlElement> > blobs;
122 
124  };
125  }
126 }
127 #endif
std::vector< std::shared_ptr< TiXmlElement > > blobs
Definition: SDFExtension.hh:121
bool isMaxContacts
Definition: SDFExtension.hh:94
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:87
bool provideFeedback
Definition: SDFExtension.hh:116
URDF to SDF converter.
Definition: parser_urdf.hh:35
double springStiffness
Definition: SDFExtension.hh:114
double minDepth
Definition: SDFExtension.hh:99
bool isDampingFactor
Definition: SDFExtension.hh:92
bool isImplicitSpringDamper
Definition: SDFExtension.hh:117
Definition: SDFExtension.hh:40
bool setStaticFlag
Definition: SDFExtension.hh:90
std::string oldLinkName
Definition: SDFExtension.hh:53
double mu2
Definition: SDFExtension.hh:105
bool isMinDepth
Definition: SDFExtension.hh:98
bool isMu2
Definition: SDFExtension.hh:104
double laserRetro
Definition: SDFExtension.hh:108
bool gravity
Definition: SDFExtension.hh:91
ignition::math::Pose3d reductionTransform
Definition: SDFExtension.hh:54
bool isSpringStiffness
Definition: SDFExtension.hh:113
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
std::vector< std::shared_ptr< TiXmlElement > > visual_blobs
blobs of xml to be copied into the visual sdf element
Definition: SDFExtension.hh:60
double stopErp
Definition: SDFExtension.hh:112
bool selfCollide
Definition: SDFExtension.hh:101
int maxContacts
Definition: SDFExtension.hh:95
bool isLaserRetro
Definition: SDFExtension.hh:107
bool isMaxVel
Definition: SDFExtension.hh:96
bool implicitSpringDamper
Definition: SDFExtension.hh:118
namespace for Simulation Description Format parser
Definition: Actor.hh:32
std::string fdir1
Definition: SDFExtension.hh:106
double dampingFactor
Definition: SDFExtension.hh:93
bool isStopErp
Definition: SDFExtension.hh:111
double maxVel
Definition: SDFExtension.hh:97
bool isSelfCollide
Definition: SDFExtension.hh:100
std::string material
Definition: SDFExtension.hh:57
bool isProvideFeedback
Definition: SDFExtension.hh:115