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Declare loop variables inside for loop in C++ files.

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PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
This commit is contained in:
Nimrod Gileadi
2023-03-23 07:21:46 -07:00
committed by Copybara-Service
parent 145fe7f354
commit 0e7e299bf6
11 changed files with 375 additions and 447 deletions
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src/xml/xml_native_writer.cc
+17 -21
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@@ -1135,7 +1135,6 @@ void mjXWriter::Extension(XMLElement* root) {
// custom section
void mjXWriter::Custom(XMLElement* root) {
XMLElement* elem;
int i, j;
// get sizes, skip section if empty
int nnum = model->NumObjects(mjOBJ_NUMERIC);
@@ -1151,7 +1150,7 @@ void mjXWriter::Custom(XMLElement* root) {
XMLElement* section = InsertEnd(root, "custom");
// write all numerics
for (i=0; i<nnum; i++) {
for (int i=0; i<nnum; i++) {
mjCNumeric* ptr = (mjCNumeric*)model->GetObject(mjOBJ_NUMERIC, i);
elem = InsertEnd(section, "numeric");
WriteAttrTxt(elem, "name", ptr->name);
@@ -1160,7 +1159,7 @@ void mjXWriter::Custom(XMLElement* root) {
}
// write all texts
for (i=0; i<ntxt; i++) {
for (int i=0; i<ntxt; i++) {
mjCText* ptr = (mjCText*)model->GetObject(mjOBJ_TEXT, i);
elem = InsertEnd(section, "text");
WriteAttrTxt(elem, "name", ptr->name);
@@ -1168,13 +1167,13 @@ void mjXWriter::Custom(XMLElement* root) {
}
// write all tuples
for (i=0; i<ntup; i++) {
for (int i=0; i<ntup; i++) {
mjCTuple* ptr = (mjCTuple*)model->GetObject(mjOBJ_TUPLE, i);
elem = InsertEnd(section, "tuple");
WriteAttrTxt(elem, "name", ptr->name);
// write objects in tuple
for (j=0; j<(int)ptr->objtype.size(); j++) {
for (int j=0; j<(int)ptr->objtype.size(); j++) {
XMLElement* obj = InsertEnd(elem, "element");
WriteAttrTxt(obj, "objtype", mju_type2Str((int)ptr->objtype[j]));
WriteAttrTxt(obj, "objname", ptr->objname[j].c_str());
@@ -1191,7 +1190,6 @@ void mjXWriter::Custom(XMLElement* root) {
// asset section
void mjXWriter::Asset(XMLElement* root) {
XMLElement* elem;
int i;
// get sizes
int ntex = model->NumObjects(mjOBJ_TEXTURE);
@@ -1210,7 +1208,7 @@ void mjXWriter::Asset(XMLElement* root) {
// write textures
mjCTexture deftex(0);
for (i=0; i<ntex; i++) {
for (int i=0; i<ntex; i++) {
// create element
mjCTexture* ptex = (mjCTexture*)model->GetObject(mjOBJ_TEXTURE, i);
elem = InsertEnd(section, "texture");
@@ -1260,7 +1258,7 @@ void mjXWriter::Asset(XMLElement* root) {
}
// write materials
for (i=0; i<nmat; i++) {
for (int i=0; i<nmat; i++) {
// create element and write
mjCMaterial* pmat = (mjCMaterial*)model->GetObject(mjOBJ_MATERIAL, i);
elem = InsertEnd(section, "material");
@@ -1268,7 +1266,7 @@ void mjXWriter::Asset(XMLElement* root) {
}
// write meshes
for (i=0; i<nmesh; i++) {
for (int i=0; i<nmesh; i++) {
// create element and write
mjCMesh* pmesh = (mjCMesh*)model->GetObject(mjOBJ_MESH, i);
elem = InsertEnd(section, "mesh");
@@ -1276,7 +1274,7 @@ void mjXWriter::Asset(XMLElement* root) {
}
// write skins
for (i=0; i<nskin; i++) {
for (int i=0; i<nskin; i++) {
// create element and write
mjCSkin* pskin = (mjCSkin*)model->GetObject(mjOBJ_SKIN, i);
elem = InsertEnd(section, "skin");
@@ -1284,7 +1282,7 @@ void mjXWriter::Asset(XMLElement* root) {
}
// write hfields
for (i=0; i<nhfield; i++) {
for (int i=0; i<nhfield; i++) {
// create element
mjCHField* phf = (mjCHField*)model->GetObject(mjOBJ_HFIELD, i);
elem = InsertEnd(section, "hfield");
@@ -1306,7 +1304,6 @@ void mjXWriter::Asset(XMLElement* root) {
// recursive body writer
void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
double unitq[4] = {1, 0, 0, 0};
unsigned int i;
if (!body) {
throw mjXError(0, "missing body in XML write"); // SHOULD NOT OCCUR
@@ -1340,27 +1337,27 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
}
// write joints
for (i=0; i<body->joints.size(); i++) {
for (int i=0; i<body->joints.size(); i++) {
OneJoint(InsertEnd(elem, "joint"), body->joints[i], body->joints[i]->def);
}
// write geoms
for (i=0; i<body->geoms.size(); i++) {
for (int i=0; i<body->geoms.size(); i++) {
OneGeom(InsertEnd(elem, "geom"), body->geoms[i], body->geoms[i]->def);
}
// write sites
for (i=0; i<body->sites.size(); i++) {
for (int i=0; i<body->sites.size(); i++) {
OneSite(InsertEnd(elem, "site"), body->sites[i], body->sites[i]->def);
}
// write cameras
for (i=0; i<body->cameras.size(); i++) {
for (int i=0; i<body->cameras.size(); i++) {
OneCamera(InsertEnd(elem, "camera"), body->cameras[i], body->cameras[i]->def);
}
// write lights
for (i=0; i<body->lights.size(); i++) {
for (int i=0; i<body->lights.size(); i++) {
OneLight(InsertEnd(elem, "light"), body->lights[i], body->lights[i]->def);
}
@@ -1387,7 +1384,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
}
// write child bodies recursively
for (i=0; i<body->bodies.size(); i++) {
for (int i=0; i<body->bodies.size(); i++) {
Body(InsertEnd(elem, "body"), body->bodies[i]);
}
}
@@ -1397,7 +1394,6 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
// collision section
void mjXWriter::Contact(XMLElement* root) {
XMLElement* elem;
int i;
// get number of pairs of each type
int npair = model->NumObjects(mjOBJ_PAIR);
@@ -1412,7 +1408,7 @@ void mjXWriter::Contact(XMLElement* root) {
XMLElement* section = InsertEnd(root, "contact");
// write all geom pairs
for (i=0; i<npair; i++) {
for (int i=0; i<npair; i++) {
// create element and write
mjCPair* ppair = (mjCPair*)model->GetObject(mjOBJ_PAIR, i);
elem = InsertEnd(section, "pair");
@@ -1420,7 +1416,7 @@ void mjXWriter::Contact(XMLElement* root) {
}
// write all exclude pairs
for (i=0; i<nexclude; i++) {
for (int i=0; i<nexclude; i++) {
// create element
mjCBodyPair* pexclude = (mjCBodyPair*)model->GetObject(mjOBJ_EXCLUDE, i);
elem = InsertEnd(section, "exclude");