41 setStaticFlag =
false;
43 isDampingFactor =
false;
44 isMaxContacts =
false;
58 isInitialJointPosition =
false;
59 isFudgeFactor =
false;
60 isProvideFeedback =
false;
61 isImplicitSpringDamper =
false;
77 initialJointPosition = 0;
80 provideFeedback =
false;
81 implicitSpringDamper =
false;
101 isStopKp = ge.isStopKp;
102 isStopKd = ge.isStopKd;
133 public: std::string oldLinkName;
154 public:
bool isMu1,
isMu2, isKp, isKd;
155 public:
double mu1,
mu2, kp, kd;
161 public:
bool isStopCfm,
isStopErp, isInitialJointPosition, isFudgeFactor;
162 public:
double stopCfm,
stopErp, initialJointPosition, fudgeFactor;
167 private:
bool isStopKp, isStopKd;
168 private:
double stopKp, stopKd;
171 public: std::vector<boost::shared_ptr<TiXmlElement> >
blobs;
188 public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);
193 public: TiXmlDocument InitModelFile(
const std::string &_filename);
200 public: TiXmlDocument InitModelString(
const std::string &_urdfStr,
201 bool _enforceLimits =
true);
205 private:
void ParseSDFExtension(TiXmlDocument &_urdfXml);
208 private:
void ListSDFExtensions();
211 private:
void ListSDFExtensions(
const std::string &_reference);