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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/user/user_composite_test.cc
+4 -5
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@@ -48,9 +48,8 @@ TEST_F(UserCompositeTest, ShapeCanBeOmitted) {
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
mj_deleteModel(m);
MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m.get(), NotNull()) << error.data();
}
TEST_F(UserCompositeTest, InvalidShape) {
@@ -64,8 +63,8 @@ TEST_F(UserCompositeTest, InvalidShape) {
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull()) << error.data();
MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m.get(), IsNull()) << error.data();
EXPECT_THAT(error.data(),
HasSubstr("The curve array contains an invalid shape"));
}