text: /*
   * Copyright (c) 2011-2021, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include "dart/utils/mjcf/detail/BodyAttributes.hpp"
  
  #include "dart/utils/XmlHelpers.hpp"
  #include "dart/utils/mjcf/detail/Size.hpp"
  #include "dart/utils/mjcf/detail/Utils.hpp"
  
  namespace dart {
  namespace utils {
  namespace MjcfParser {
  namespace detail {
  
  //==============================================================================
  Errors appendBodyAttributes(
      BodyAttributes& attributes,
      tinyxml2::XMLElement* element,
      const common::optional<Size>& size)
  {
    Errors errors;
  
    if (std::string(element->Name()) != "body")
    {
      errors.emplace_back(
          ErrorCode::INCORRECT_ELEMENT_TYPE,
          "Failed to find <Body> from the provided element");
      return errors;
    }
  
    // name
    if (hasAttribute(element, "name"))
    {
      attributes.mName = getAttributeString(element, "name");
    }
  
    // mocap
    if (hasAttribute(element, "mocap"))
    {
      attributes.mMocap = getAttributeBool(element, "mocap");
    }
  
    // pos
    if (hasAttribute(element, "pos"))
    {
      attributes.mPos = getAttributeVector3d(element, "pos");
    }
  
    // Check if multiple orientation representations present
    const Errors orientationErrors = checkOrientationValidity(element);
    errors.insert(
        errors.end(), orientationErrors.begin(), orientationErrors.end());
  
    // quat
    if (hasAttribute(element, "quat"))
    {
      const Eigen::Vector4d vec4d = getAttributeVector4d(element, "quat");
      attributes.mQuat.w() = vec4d[0];
      attributes.mQuat.x() = vec4d[1];
      attributes.mQuat.y() = vec4d[2];
      attributes.mQuat.z() = vec4d[3];
    }
  
    // axisangle
    if (hasAttribute(element, "axisangle"))
    {
      attributes.mAxisAngle = getAttributeVector4d(element, "axisangle");
    }
  
    // euler
    if (hasAttribute(element, "euler"))
    {
      attributes.mEuler = getAttributeVector3d(element, "euler");
    }
  
    // xyaxes
    if (hasAttribute(element, "xyaxes"))
    {
      attributes.mXYAxes = getAttributeVector6d(element, "xyaxes");
    }
  
    // zaxis
    if (hasAttribute(element, "zaxis"))
    {
      attributes.mZAxis = getAttributeVector3d(element, "zaxis");
    }
  
    // user
    if (hasAttribute(element, "user"))
    {
      if (not size)
      {
        errors.emplace_back(
            ErrorCode::ATTRIBUTE_INVALID,
            "Attempt to parse 'user' attribute of <body> when <size> is missing");
        return errors;
      }
  
      const Eigen::VectorXd user = getAttributeVectorXd(element, "user");
  
      if (user.size() != size->getNUserBody())
      {
        errors.emplace_back(
            ErrorCode::ATTRIBUTE_INVALID,
            "The size of 'user' is different from <size nuser_body="
                + std::to_string(size->getNUserBody()) + ">");
        return errors;
      }
  
      attributes.mUser = user;
    }
    else
    {
      if (size)
        attributes.mUser.setZero(size->getNUserBody());
      else
        attributes.mUser.resize(0);
    }
  
    // Read <inertial>
    if (hasElement(element, "inertial"))
    {
      auto inertialElement = getElement(element, "inertial");
      assert(inertialElement);
      attributes.mInertial = Inertial();
      const Errors inertialErrors = attributes.mInertial->read(inertialElement);
      errors.insert(errors.end(), inertialErrors.begin(), inertialErrors.end());
    }
  
    return errors;
  }
  
  } // namespace detail
  } // namespace MjcfParser
  } // namespace utils
  } // namespace dart
  