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Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
This commit is contained in:
Kyle Bayes
2026-06-22 04:18:29 -07:00
committed by Copybara-Service
parent 34d142ee50
commit 1490336955
39 changed files with 4616 additions and 5908 deletions
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test/engine/engine_vis_visualize_test.cc
+7 -13
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@@ -44,9 +44,7 @@ class MjvSceneTest : public MujocoTest {
}
}
void FreeSceneObjects() {
mjv_freeScene(&scn_);
}
void FreeSceneObjects() { mjv_freeScene(&scn_); }
mjvScene scn_;
mjvOption opt_;
@@ -80,7 +78,6 @@ TEST_F(MjvSceneTest, UpdateScene) {
mj_deleteData(data_copy);
mj_deleteData(data);
FreeSceneObjects();
mj_deleteModel(model);
}
@@ -101,7 +98,6 @@ TEST_F(MjvSceneTest, UpdateSceneGeomsExhausted) {
mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
EXPECT_EQ(scn_.status, 1);
EXPECT_EQ(scn_.ngeom, maxgeoms);
mj_deleteData(data);
FreeSceneObjects();
mj_deleteModel(model);
@@ -118,17 +114,17 @@ TEST_F(MjvSceneTest, PrincipalPointFrustumSign) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
mj_forward(model, data);
MjModelPtr model = LoadModelFromString(xml);
ASSERT_THAT(model.get(), NotNull());
MjDataPtr data = MakeData(model);
mj_forward(model.get(), data.get());
InitSceneObjects(model);
InitSceneObjects(model.get());
// point camera at the fixed cam
cam_.type = mjCAMERA_FIXED;
cam_.fixedcamid = 0;
mjv_updateCamera(model, data, &cam_, &scn_);
mjv_updateCamera(model.get(), data.get(), &cam_, &scn_);
float top = scn_.camera[0].frustum_top;
float bottom = scn_.camera[0].frustum_bottom;
@@ -148,9 +144,7 @@ TEST_F(MjvSceneTest, PrincipalPointFrustumSign) {
EXPECT_FLOAT_EQ(top, half - offset);
EXPECT_FLOAT_EQ(bottom, -(half + offset));
mj_deleteData(data);
FreeSceneObjects();
mj_deleteModel(model);
}
} // namespace