Add setter

VirtualRobot/XML/mujoco/MujocoIO.cpp

@@ -728,6 +728,11 @@ void MujocoIO::setActuatorTypeSuffixes(const std::map<ActuatorType, std::string>
     this->actuatorTypeSuffixes = suffixes;
 }
 
+void MujocoIO::setBodySanitizeMode(BodySanitizeMode mode)
+{
+    this->bodySanitizeMode = mode;
+}
+
 void MujocoIO::setWithMocapBody(bool enabled)
 {
     this->withMocapBody = enabled;

VirtualRobot/XML/mujoco/MujocoIO.h

@@ -8,18 +8,17 @@
 #include "BodySanitizer.h"
 
 
-namespace VirtualRobot
-{
-
-namespace mujoco
+namespace VirtualRobot::mujoco
 {
 
+    /// Actuator type.
     enum class ActuatorType
     {
         MOTOR, POSITION, VELOCITY,
     };
     ActuatorType toActuatorType(const std::string& string);
     
+    
     /// Body sanitization mode.
     enum class BodySanitizeMode
     {
@@ -29,6 +28,9 @@ namespace mujoco
     BodySanitizeMode toBodySanitizeMode(const std::string& string);
     
     
+    /**
+     * @brief Converts a VirtualRobot robot model to MuJoCo MJCF format.
+     */
     class MujocoIO
     {
     public:
@@ -66,6 +68,8 @@ namespace mujoco
         /// Set suffixes appended to actuator names if adding actuator type suffixes is enabled.
         void setActuatorTypeSuffixes(const std::map<ActuatorType, std::string>& suffixes);
         
+        /// Set the body sanitize mode.
+        void setBodySanitizeMode(BodySanitizeMode mode);
         
         /**
          * @brief Enable or disable adding of a mocap body controlling the robot pose.
@@ -201,4 +205,4 @@ namespace mujoco
     };
     
     
-}}
+}