From c2311ae5f54d857ebaad4d22cfab3e61c3d82350 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Wed, 3 Apr 2019 10:36:34 +0200
Subject: [PATCH] Added compiler attributes
---
VirtualRobot/MJCF/elements/compiler.h | 29 +++++++++++++++++++++++++++
1 file changed, 29 insertions(+)
diff --git a/VirtualRobot/MJCF/elements/compiler.h b/VirtualRobot/MJCF/elements/compiler.h
index 639606a6b..cf6789197 100644
--- a/VirtualRobot/MJCF/elements/compiler.h
+++ b/VirtualRobot/MJCF/elements/compiler.h
@@ -9,6 +9,35 @@ struct CompilerSection : public Element<CompilerSection>
{
static const std::string tag;
mjcf_ElementDerivedConstructors(CompilerSection)
+
+ mjcf_FloatAttributeDef(CompilerSection, boundmass, 0);
+ mjcf_FloatAttributeDef(CompilerSection, boundinertia, 0);
+ mjcf_FloatAttributeDef(CompilerSection, settotalmass, -1);
+
+ mjcf_BoolAttributeDef(CompilerSection, balanceinertia, false);
+ mjcf_BoolAttributeDef(CompilerSection, strippath, false);
+
+ // local, global
+ mjcf_StringAttributeDef(CompilerSection, coordinate, "local");
+ // degree, radian (default "degree" for MJCF, always "radian" for URDF)
+ mjcf_StringAttributeDef(CompilerSection, angle, "degree");
+ mjcf_BoolAttributeDef(CompilerSection, fitaabb, false);
+ mjcf_StringAttributeDef(CompilerSection, eulerseq, "xyz");
+
+ mjcf_StringAttributeOpt(CompilerSection, meshdir);
+ mjcf_StringAttributeOpt(CompilerSection, texturedir);
+ // Default: false for MJCF, true for URDF
+ mjcf_BoolAttributeDef(CompilerSection, discardvisual, false);
+
+ mjcf_BoolAttributeDef(CompilerSection, convexhull, true);
+ mjcf_BoolAttributeDef(CompilerSection, userthread, true);
+
+ // Default: false for MJCF, true for URDF
+ mjcf_BoolAttributeDef(CompilerSection, fusestatic, false);
+
+ // false, true, auto
+ mjcf_StringAttributeDef(CompilerSection, inertiafromgeom, "auto");
+ mjcf_AttributeDef(CompilerSection, Eigen::Vector2i, inertiagrouprange, Eigen::Vector2i(0, 5));
};
}
--
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