diff --git a/VirtualRobot/examples/MjcfConverter/CMakeLists.txt b/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
index 73623bad088f6b3ebdab5ff0b595bf3ce159fb74..95eab5a63d557bda4537fa74b2c18627f73655fb 100644
--- a/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
+++ b/VirtualRobot/examples/MjcfConverter/CMakeLists.txt
@@ -12,17 +12,21 @@ if (Boost_FOUND)
main.cpp
exceptions.cpp
utils.cpp
+ xml_visitors.cpp
MjcfConverter.cpp
MjcfDocument.cpp
+ SimoxXMLDocument.cpp
)
set(HEADERS
exceptions.h
utils.h
+ xml_visitors.h
MjcfConverter.h
MjcfDocument.h
+ SimoxXMLDocument.h
)
set(LIBS
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp b/VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp
index 7ee32e44a6c18c366987f1af40f47b8002e1b52d..788aab09faa9f83c9da63b0d226003d851e4c5a7 100644
--- a/VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp
+++ b/VirtualRobot/examples/MjcfConverter/MjcfConverter.cpp
@@ -74,12 +74,7 @@ void MjcfConverter::loadInputFile()
throw; // rethrow
}
- inputXML.reset(new tx::XMLDocument());
-
- if (inputXML->LoadFile(inputFilePath.c_str()))
- {
- throw MjcfXmlLoadFileFailed(inputXML->ErrorName(), inputXML->ErrorStr());
- }
+ inputXML.LoadFile(inputFilePath.string());
}
void MjcfConverter::writeOutputFile()
@@ -103,9 +98,6 @@ void MjcfConverter::convertToMjcf()
makeEnvironment();
- std::cout << "Collecting collision model and visualization files..." << std::endl;
- gatherCollisionAndVisualizationFiles();
-
std::cout << "Creating bodies structure ..." << std::endl;
addNodeBodies();
@@ -129,36 +121,7 @@ void MjcfConverter::convertToMjcf()
return;
}
-void MjcfConverter::gatherCollisionAndVisualizationFiles()
-{
- nodeCollisionModelFiles.clear();
- nodeVisualizationFiles.clear();
-
- tx::XMLNode* xmlRobot = inputXML->FirstChildElement("Robot");
- assert(xmlRobot);
-
- for (tx::XMLElement* xmlRobotNode = xmlRobot->FirstChildElement("RobotNode");
- xmlRobotNode;
- xmlRobotNode = xmlRobotNode->NextSiblingElement("RobotNode"))
- {
- std::string nodeName = xmlRobotNode->Attribute("name");
-
- tx::XMLElement* xmlVisu = xmlRobotNode->FirstChildElement("Visualization");
- tx::XMLElement* xmlColModel = xmlRobotNode->FirstChildElement("CollisionModel");
-
- if (xmlVisu)
- {
- std::string filename = xmlVisu->FirstChildElement("File")->GetText();
- nodeVisualizationFiles[nodeName] = filename;
- }
-
- if (xmlColModel)
- {
- std::string filename = xmlColModel->FirstChildElement("File")->GetText();
- nodeCollisionModelFiles[nodeName] = filename;
- }
- }
-}
+
void MjcfConverter::addNodeBodies()
{
@@ -185,15 +148,14 @@ void MjcfConverter::addNodeBodyMeshes()
for (RobotNodePtr node : robot->getRobotNodes())
{
- auto item = nodeVisualizationFiles.find(node->getName());
- if (item == nodeVisualizationFiles.end())
+ if (!inputXML.hasVisualizationFile(node))
{
continue;
}
std::cout << "Node " << node->getName() << ":\t";
- fs::path srcMeshPath = item->second;
+ fs::path srcMeshPath = inputXML.collisionModelFile(node);
if (srcMeshPath.is_relative())
{
@@ -309,7 +271,7 @@ void MjcfConverter::sanitizeMasslessBodyRecursion(mjcf::Element* body)
std::cout << "- Node '" << body->Attribute("name") << "': " << std::endl;
// leaf => end of recursion
- if (!hasElement(body, "body"))
+ if (!hasElementChild(body, "body"))
{
std::cout << " | Leaf";
if (!hasMass(body))
@@ -412,7 +374,7 @@ void MjcfConverter::sanitizeMasslessBodyRecursion(mjcf::Element* body)
void MjcfConverter::sanitizeMasslessLeafBody(mjcf::Element* body)
{
- assert(!hasElement(body, "body"));
+ assert(!hasElementChild(body, "body"));
assert(!hasMass(body));
if (body->NoChildren()) // is completely empty?
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfConverter.h b/VirtualRobot/examples/MjcfConverter/MjcfConverter.h
index 68614c132a6a9cfa8eddaf3df40ced6646302f63..805ba6df392849996e6043d7ae5fec58f7c44ca1 100644
--- a/VirtualRobot/examples/MjcfConverter/MjcfConverter.h
+++ b/VirtualRobot/examples/MjcfConverter/MjcfConverter.h
@@ -6,6 +6,7 @@
#include "exceptions.h"
+#include "SimoxXMLDocument.h"
#include "MjcfDocument.h"
@@ -65,7 +66,7 @@ namespace VirtualRobot
// Input
- std::unique_ptr<tinyxml2::XMLDocument> inputXML;
+ SimoxXMLDocument inputXML;
RobotPtr robot;
@@ -77,9 +78,7 @@ namespace VirtualRobot
// Processing
std::map<std::string, mjcf::Element*> nodeBodies;
-
- std::map<std::string, std::string> nodeCollisionModelFiles;
- std::map<std::string, std::string> nodeVisualizationFiles;
+
};
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfDocument.cpp b/VirtualRobot/examples/MjcfConverter/MjcfDocument.cpp
index 9a2c93584720f7e57defa6a60bf605fd02d8b07c..1e3b637c8f7429755ec618e7f47c88b8d81a0ba5 100644
--- a/VirtualRobot/examples/MjcfConverter/MjcfDocument.cpp
+++ b/VirtualRobot/examples/MjcfConverter/MjcfDocument.cpp
@@ -4,6 +4,7 @@
#include <VirtualRobot/Nodes/RobotNodeRevolute.h>
#include "utils.h"
+#include "xml_visitors.h"
using namespace VirtualRobot;
@@ -142,11 +143,7 @@ Element* Document::addJointElement(Element* body, RobotNodePtr node)
Element* joint = addNewElement(body, "joint");
- {
- std::stringstream jointName;
- jointName << node->getName() << "_joint";
- joint->SetAttribute("name", jointName.str().c_str());
- }
+ joint->SetAttribute("name", node->getName().c_str());
// get the axis
Eigen::Vector3f axis;
@@ -262,30 +259,4 @@ std::string Document::toAttr(const Eigen::Quaternionf& quat)
-ContactExcludeVisitor::ContactExcludeVisitor(Document& document) :
- document(document)
-{
-}
-
-bool ContactExcludeVisitor::VisitEnter(
- const tinyxml2::XMLElement& body, const tinyxml2::XMLAttribute*)
-{
- if (std::string(body.Value()) != "body")
- {
- return true;
- }
-
- if (!firstSkipped)
- {
- firstSkipped = true;
- return true;
- }
-
- const Element* parent = body.Parent()->ToElement();
- assert(parent);
-
- document.addContactExclude(*parent, body);
-
- return true;
-}
diff --git a/VirtualRobot/examples/MjcfConverter/MjcfDocument.h b/VirtualRobot/examples/MjcfConverter/MjcfDocument.h
index 7d9636b1fab54eabbea78ac1c4e71654e5483701..24a24c7c5908af381be20fb43fc4c7448fd11d3c 100644
--- a/VirtualRobot/examples/MjcfConverter/MjcfDocument.h
+++ b/VirtualRobot/examples/MjcfConverter/MjcfDocument.h
@@ -23,9 +23,7 @@ namespace mjcf
Document();
- void setModelName(const std::string& name);
-
-
+ // Top level elements
Element* compiler() { return topLevelElement("compiler"); }
Element* option() { return topLevelElement("option"); }
Element* size() { return topLevelElement("size"); }
@@ -42,46 +40,67 @@ namespace mjcf
Element* keyframe() { return topLevelElement("keyframe"); }
+ /// Set the name of the Mujoco model.
+ void setModelName(const std::string& name);
+
+ /// Add a skybox texture asset (only one allowed).
Element* addSkyboxTexture(const Eigen::Vector3f& rgb1, const Eigen::Vector3f& rgb2);
- Element* addNewElement(Element* parent, const std::string& elemName,
- bool first = false);
+ /// Add a new element with a name (tag) to a parent.
+ /// @param first if true, will be inserted as first, otherweise at end (default)
+ Element* addNewElement(Element* parent, const std::string& elemName, bool first = false);
+
+ /// Add a body element to a parent from a RobotNode.
+ /// Adds inertial and joint element, if necessary.
Element* addBodyElement(Element* parent, RobotNodePtr node);
+ /// Add an inertial element to a body from a RobotNode.
+ Element* addInertialElement(Element* body, RobotNodePtr node);
+ /// Add a dummy inertial element with small mass and identity inertia matrix.
Element* addDummyInertial(Element* body);
- Element* addGeomElement(Element* body, const std::string& meshName);
-
+ /// Add a joint element to a body from a RobotNode.
+ Element* addJointElement(Element* body, RobotNodePtr node);
+ /// Add a geom to a body, referencing a mesh.
+ Element* addGeomElement(Element* body, const std::string& meshName);
+ /// Add a mesh asset with a name and a file.
Element* addMeshElement(const std::string& name, const std::string& file);
+
+ /// Set the pos and quat attribute of a body.
void setBodyPose(Element* body, const Eigen::Matrix4f& pose);
+ /// Set the axis attribute of a joint.
void setJointAxis(Element* joint, const Eigen::Vector3f& axis);
-
+ /// Add contact/exclude elements between parent and child bodies,
+ /// starting from the given body.
void addContactExcludes(Element* rootBody);
+ /// Add a conact/exclude element between the given bodies.
Element* addContactExclude(const Element& body1, const Element& body2);
+
private:
- /// Gets the top-level element (child of root element) with the given
- /// name. If it does not exist, it is created.
+ /// Gets the top-level element (child of root element) with a name.
+ /// If it does not exist, it is created.
Element* topLevelElement(const std::string& name);
- Element* addInertialElement(Element* body, RobotNodePtr node);
- Element* addJointElement(Element* body, RobotNodePtr node);
-
+ /// Convert to MJCF XML attribute format.
std::string toAttr(bool b);
template <int dim>
std::string toAttr(const Eigen::Matrix<float, dim, 1>& v);
std::string toAttr(const Eigen::Quaternionf& v);
-
+ /// Scaling for lengths, such as positions and translations.
float lengthScaling = 0.001f;
+ /// Precision when comparing floats (e.g. with zero).
float floatCompPrecision = 1e-6f;
+ /// Mass used for dummy inertial elements.
float dummyMass = 0.0001f;
+ /// IOFormat for vectors.
Eigen::IOFormat iofVector {5, 0, "", " ", "", "", "", ""};
/// The "mujoco" root element.
@@ -104,20 +123,7 @@ namespace mjcf
}
- class ContactExcludeVisitor : public tinyxml2::XMLVisitor
- {
- public:
- ContactExcludeVisitor(Document& document);
-
- // XMLVisitor interface
- virtual bool VisitEnter(const tinyxml2::XMLElement&, const tinyxml2::XMLAttribute*) override;
-
- private:
- Document& document;
- bool firstSkipped = false; ///< Used to skip the root element.
-
- };
-
+
}
}
diff --git a/VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.cpp b/VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c8fbb201f8f241200ea5748b8c761148f6b06c75
--- /dev/null
+++ b/VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.cpp
@@ -0,0 +1,102 @@
+#include "SimoxXMLDocument.h"
+
+#include "exceptions.h"
+#include "utils.h"
+
+
+using namespace VirtualRobot;
+namespace tx = tinyxml2;
+
+
+SimoxXMLDocument::SimoxXMLDocument()
+{
+}
+
+void SimoxXMLDocument::LoadFile(const char* filename)
+{
+ int errID = Base::LoadFile(filename);
+ if (errID)
+ {
+ throw MjcfXmlLoadFileFailed(ErrorName(), ErrorStr());
+ }
+
+ collisionModelFiles.clear();
+ visualizationFiles.clear();
+
+ tx::XMLNode* xmlRobot = FirstChildElement("Robot");
+ assert(xmlRobot);
+
+ RobotNodeVisitor visitor(*this);
+ xmlRobot->Accept(&visitor);
+}
+
+
+void SimoxXMLDocument::LoadFile(const std::string& filename)
+{
+ LoadFile(filename.c_str());
+}
+
+bool SimoxXMLDocument::hasCollisionModelFile(RobotNodePtr robotNode) const
+{
+ return hasEntry(robotNode, collisionModelFiles);
+}
+
+bool SimoxXMLDocument::hasVisualizationFile(RobotNodePtr robotNode) const
+{
+ return hasEntry(robotNode, visualizationFiles);
+}
+
+boost::filesystem::path SimoxXMLDocument::collisionModelFile(RobotNodePtr robotNode) const
+{
+ return getEntry(robotNode, collisionModelFiles);
+}
+
+boost::filesystem::path SimoxXMLDocument::visualizationFile(RobotNodePtr robotNode) const
+{
+ return getEntry(robotNode, visualizationFiles);
+}
+
+bool SimoxXMLDocument::hasEntry(RobotNodePtr robotNode, const NamePathMap& map) const
+{
+ return map.find(robotNode->getName()) != map.end();
+}
+
+boost::filesystem::path SimoxXMLDocument::getEntry(
+ RobotNodePtr robotNode, const SimoxXMLDocument::NamePathMap& map) const
+{
+ auto item = map.find(robotNode->getName());
+ if (item == map.end())
+ {
+ return boost::filesystem::path("");
+ }
+ return item->second;
+}
+
+
+RobotNodeVisitor::RobotNodeVisitor(SimoxXMLDocument& document) :
+ document(document)
+{
+}
+
+bool RobotNodeVisitor::VisitEnter(const tinyxml2::XMLElement& robotNode, const tinyxml2::XMLAttribute*)
+{
+ if (isElement(&robotNode, "RobotNode"))
+ {
+ std::string nodeName = robotNode.Attribute("name");
+
+ const tx::XMLElement* xmlVisu = robotNode.FirstChildElement("Visualization");
+ const tx::XMLElement* xmlColModel = robotNode.FirstChildElement("CollisionModel");
+
+ if (xmlVisu)
+ {
+ std::string filename = xmlVisu->FirstChildElement("File")->GetText();
+ document.visualizationFiles[nodeName] = filename;
+ }
+
+ if (xmlColModel)
+ {
+ std::string filename = xmlColModel->FirstChildElement("File")->GetText();
+ document.collisionModelFiles[nodeName] = filename;
+ }
+ }
+}
diff --git a/VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.h b/VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.h
new file mode 100644
index 0000000000000000000000000000000000000000..d496b69f3210cf499c0fb556db23efac641fc092
--- /dev/null
+++ b/VirtualRobot/examples/MjcfConverter/SimoxXMLDocument.h
@@ -0,0 +1,64 @@
+#pragma once
+
+#include <string>
+#include <map>
+
+#include <boost/filesystem/path.hpp>
+
+#include <VirtualRobot/Tools/tinyxml2.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+
+
+namespace VirtualRobot
+{
+
+class SimoxXMLDocument : private tinyxml2::XMLDocument
+{
+ using Base = tinyxml2::XMLDocument;
+ friend class RobotNodeVisitor;
+
+
+public:
+
+ SimoxXMLDocument();
+
+ void LoadFile(const char* filename);
+ void LoadFile(const std::string& filename);
+
+
+ bool hasCollisionModelFile(RobotNodePtr robotNode) const;
+ bool hasVisualizationFile(RobotNodePtr robotNode) const;
+
+ boost::filesystem::path collisionModelFile(RobotNodePtr robotNode) const;
+ boost::filesystem::path visualizationFile(RobotNodePtr robotNode) const;
+
+
+private:
+
+ using NamePathMap = std::map<std::string, boost::filesystem::path>;
+
+ bool hasEntry(RobotNodePtr robotNode, const NamePathMap& map) const;
+ boost::filesystem::path getEntry(RobotNodePtr robotNode, const NamePathMap& map) const;
+
+ NamePathMap collisionModelFiles;
+ NamePathMap visualizationFiles;
+
+
+
+};
+
+
+class RobotNodeVisitor : public tinyxml2::XMLVisitor
+{
+public:
+ RobotNodeVisitor(SimoxXMLDocument& document);
+
+ virtual bool VisitEnter(const tinyxml2::XMLElement&, const tinyxml2::XMLAttribute*) override;
+
+private:
+ SimoxXMLDocument& document;
+
+};
+
+
+}
diff --git a/VirtualRobot/examples/MjcfConverter/main.cpp b/VirtualRobot/examples/MjcfConverter/main.cpp
index 6062682a8d5f55b3c2d2970ad2e63814c7558cc6..2ed219f078bdb8b9099359e1fd4ca70d287d2ead 100644
--- a/VirtualRobot/examples/MjcfConverter/main.cpp
+++ b/VirtualRobot/examples/MjcfConverter/main.cpp
@@ -1,10 +1,6 @@
#include <boost/filesystem.hpp>
-#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RuntimeEnvironment.h>
-#include <VirtualRobot/VirtualRobotException.h>
-
-#include <string>
#include "MjcfConverter.h"
@@ -12,33 +8,44 @@
using namespace VirtualRobot;
+#define VR_INFO std::cout << "[INFO] "
+#define VR_WARNING std::cerr << "[WARN] "
+#define VR_ERROR std::cerr << "[ERROR] "
+
+
int main(int argc, char* argv[])
{
VirtualRobot::RuntimeEnvironment::considerKey("robot");
VirtualRobot::RuntimeEnvironment::processCommandLine(argc, argv);
// VirtualRobot::RuntimeEnvironment::print();
- std::string inputFilename("robots/examples/loadRobot/RobotExample.xml");
- VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(inputFilename);
-
+ std::string inputFilename;
if (VirtualRobot::RuntimeEnvironment::hasValue("robot"))
{
std::string robFile = VirtualRobot::RuntimeEnvironment::getValue("robot");
- std::cout << "robFile: " << robFile << std::endl;
if (VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(robFile))
{
inputFilename = robFile;
}
+ else
+ {
+ VR_INFO << "Something is wrong with " << robFile;
+ }
+ }
+ else
+ {
+ VR_INFO << "Usage: " << argv[0] << " --robot <simox robot file>";
+ return 0;
}
boost::filesystem::path outputDir(inputFilename);
outputDir.remove_filename();
outputDir /= "mjcf";
- std::cout << "Input file: " << inputFilename << std::endl;
- std::cout << "Output dir: " << outputDir << std::endl;
+ VR_INFO << "Input file: " << inputFilename << std::endl;
+ VR_INFO << "Output dir: " << outputDir << std::endl;
MjcfConverter converter;
converter.convert(inputFilename, outputDir.string());
diff --git a/VirtualRobot/examples/MjcfConverter/utils.cpp b/VirtualRobot/examples/MjcfConverter/utils.cpp
index 168b362492ade597775e905ca5b46195202e3c2d..7c3df9dadf37a7b2a7906e1ccccc75204f1c9a38 100644
--- a/VirtualRobot/examples/MjcfConverter/utils.cpp
+++ b/VirtualRobot/examples/MjcfConverter/utils.cpp
@@ -6,31 +6,21 @@
namespace VirtualRobot
{
-void assertElementIs(mjcf::Element* elem, const char* tag)
-{
- assert(std::strcmp(elem->Value(), tag) == 0);
-}
-
-void assertElementIs(mjcf::Element* elem, const std::string& tag)
-{
- assert(std::strcmp(elem->Value(), tag.c_str()) == 0);
-}
-
-void assertElementIsBody(mjcf::Element* elem)
+void assertElementIsBody(const mjcf::Element* elem)
{
assertElementIs(elem, "body");
}
-bool hasElement(mjcf::Element* elem, const std::string& elemName)
+bool hasElementChild(const mjcf::Element* elem, const std::string& elemName)
{
return elem->FirstChildElement(elemName.c_str()) != nullptr;
}
-bool hasMass(mjcf::Element* body)
+bool hasMass(const mjcf::Element* body)
{
assertElementIsBody(body);
- return hasElement(body, "geom") || hasElement(body, "inertial");
+ return hasElementChild(body, "geom") || hasElementChild(body, "inertial");
}
Eigen::Vector3f strToVec(const char* string)
@@ -54,5 +44,15 @@ std::size_t commonPrefixLength(const std::string& a, const std::string& b)
return std::size_t(std::distance(smaller->begin(), mismatch));
}
+bool isElement(const mjcf::Element* elem, const char* tag)
+{
+ return std::strcmp(elem->Value(), tag) == 0;
+}
+
+bool isElement(const mjcf::Element* elem, const std::string& tag)
+{
+ return std::strcmp(elem->Value(), tag.c_str()) == 0;
+}
+
}
diff --git a/VirtualRobot/examples/MjcfConverter/utils.h b/VirtualRobot/examples/MjcfConverter/utils.h
index 0853d34b0d2d0b60397891c8077f95af5afe7abc..e86d6aba7151502f90763c832eefb5ed88918720 100644
--- a/VirtualRobot/examples/MjcfConverter/utils.h
+++ b/VirtualRobot/examples/MjcfConverter/utils.h
@@ -6,20 +6,27 @@
namespace VirtualRobot
{
-void assertElementIs(mjcf::Element* elem, const char* tag);
-void assertElementIs(mjcf::Element* elem, const std::string& tag);
-void assertElementIsBody(mjcf::Element* elem);
+bool isElement(const mjcf::Element* elem, const char* tag);
+bool isElement(const mjcf::Element* elem, const std::string& tag);
+bool hasElementChild(const mjcf::Element* elem, const std::string& elemName);
-bool hasElement(mjcf::Element* elem, const std::string& elemName);
-
-bool hasMass(mjcf::Element* body);
+bool hasMass(const mjcf::Element* body);
Eigen::Vector3f strToVec(const char* string);
std::size_t commonPrefixLength(const std::string& a, const std::string& b);
+
+template <class StringT>
+void assertElementIs(const mjcf::Element* elem, const StringT tag)
+{
+ assert(isElement(elem, tag));
+}
+
+void assertElementIsBody(const mjcf::Element* elem);
+
}
diff --git a/VirtualRobot/examples/MjcfConverter/xml_visitors.cpp b/VirtualRobot/examples/MjcfConverter/xml_visitors.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4e25d63b72f4a215e91159030954f5584a344e0e
--- /dev/null
+++ b/VirtualRobot/examples/MjcfConverter/xml_visitors.cpp
@@ -0,0 +1,32 @@
+#include "xml_visitors.h"
+
+using namespace VirtualRobot::mjcf;
+
+
+ContactExcludeVisitor::ContactExcludeVisitor(Document& document) :
+ document(document)
+{
+}
+
+bool ContactExcludeVisitor::VisitEnter(
+ const tinyxml2::XMLElement& body, const tinyxml2::XMLAttribute*)
+{
+ if (std::string(body.Value()) != "body")
+ {
+ return true;
+ }
+
+ if (!firstSkipped)
+ {
+ firstSkipped = true;
+ return true;
+ }
+
+ const Element* parent = body.Parent()->ToElement();
+ assert(parent);
+
+ document.addContactExclude(*parent, body);
+
+ return true;
+}
+
diff --git a/VirtualRobot/examples/MjcfConverter/xml_visitors.h b/VirtualRobot/examples/MjcfConverter/xml_visitors.h
new file mode 100644
index 0000000000000000000000000000000000000000..32e597ebf816870a588e4bae28e8c1b7516b70bd
--- /dev/null
+++ b/VirtualRobot/examples/MjcfConverter/xml_visitors.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "MjcfDocument.h"
+
+
+namespace VirtualRobot
+{
+namespace mjcf
+{
+
+class ContactExcludeVisitor : public tinyxml2::XMLVisitor
+{
+public:
+
+ ContactExcludeVisitor(Document& document);
+ virtual ~ContactExcludeVisitor() override {}
+
+ // XMLVisitor interface
+ virtual bool VisitEnter(const tinyxml2::XMLElement&, const tinyxml2::XMLAttribute*) override;
+
+
+private:
+
+ Document& document; ///< The document.
+ bool firstSkipped = false; ///< Used to skip the root element.
+
+};
+
+}
+}