Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/xml/xml_numeric_format.h

@@ -0,0 +1,37 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_XML_XML_NUMERIC_FORMAT_H_
+#define MUJOCO_SRC_XML_XML_NUMERIC_FORMAT_H_
+
+#include <mujoco/mjexport.h>
+
+namespace mujoco {
+
+extern "C" {
+  MJAPI const char* _mjPRIVATE__get_xml_precision();
+  MJAPI void _mjPRIVATE__set_xml_precision(const char* precision);
+}
+
+// Full precision printing of floating point numbers in saved XMLs, useful for testing
+class FullFloatPrecision {
+ public:
+  FullFloatPrecision() { _mjPRIVATE__set_xml_precision("%.17g");}
+  ~FullFloatPrecision() { _mjPRIVATE__set_xml_precision("%g");}
+};
+
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_XML_NUMERIC_FORMAT_H_
+