Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
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Copybara-Service
Copybara-Service
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0e5d062302
commit
1913a02b40
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// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_XML_XML_UTIL_H_
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#define MUJOCO_SRC_XML_XML_UTIL_H_
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// stl
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#include <string>
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#include <vector>
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#include <sstream>
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#include <mujoco/mjmodel.h>
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// TinyXML
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#include "tinyxml2.h"
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// error string copy
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void mjCopyError(char* dst, const char* src, int maxlen);
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// XML Error info
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class mjXError {
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public:
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mjXError(const tinyxml2::XMLElement* elem = 0,
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const char* msg = 0,
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const char* str = 0,
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int pos = 0);
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~mjXError() = default;
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char message[1000]; // error message
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};
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// max number of attribute fields in schema (plus 3)
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#define mjXATTRNUM 35
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// Custom XML file validation
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class mjXSchema {
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public:
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mjXSchema(const char* schema[][mjXATTRNUM], // constructor
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int nrow, bool checkptr = true);
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~mjXSchema(); // destructor
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std::string GetError(void); // return error
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void Print(std::stringstream& str, int level); // print schema
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void PrintHTML(std::stringstream& str, int level, bool pad);
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bool NameMatch(tinyxml2::XMLElement* elem, int level); // does name match
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tinyxml2::XMLElement* Check(tinyxml2::XMLElement* elem, int level); // validator
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private:
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std::string name; // element name
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char type; // element type: '?', '!', '*', 'R'
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std::vector<std::string> attr; // allowed attributes
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std::vector<mjXSchema*> child; // allowed child elements
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int refcnt; // refcount used for validation
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std::string error; // error from constructor or Check
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};
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// key(string) : value(int) map
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struct _mjMap {
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std::string key;
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int value;
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};
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typedef struct _mjMap mjMap;
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// XML read and write utility functions
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class mjXUtil {
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public:
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mjXUtil() = default;
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virtual ~mjXUtil() = default;
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// compare two vectors
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static bool SameVector(const double* vec1, const double* vec2, int n);
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static bool SameVector(const float* vec1, const float* vec2, int n);
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// find key in map, return value (-1: not found)
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static int FindKey(const mjMap* map, int mapsz, std::string key);
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// find value in map, return key ("": not found)
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static std::string FindValue(const mjMap* map, int mapsz, int value);
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// read DOUBLE array from attribute, return number read
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static int ReadAttr(tinyxml2::XMLElement* elem, const char* attr, const int len,
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double* data, std::string& text,
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bool required = false, bool exact = true);
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// read FLOAT array from attribute, return number read
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static int ReadAttr(tinyxml2::XMLElement* elem, const char* attr, const int len,
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float* data, std::string& text,
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bool required = false, bool exact = true);
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// read INT array from attribute, return number read
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static int ReadAttr(tinyxml2::XMLElement* elem, const char* attr, const int len,
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int* data, std::string& text,
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bool required = false, bool exact = true);
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// read BYTE array from attribute, return number read
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static int ReadAttr(tinyxml2::XMLElement* elem, const char* attr, const int len,
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mjtByte* data, std::string& text,
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bool required = false, bool exact = true);
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// read DOUBLE array into C++ vector, return number read
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static int ReadVector(tinyxml2::XMLElement* elem, const char* attr,
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std::vector<double>& vec, std::string& text, bool required = false);
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// read text attribute
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static bool ReadAttrTxt(tinyxml2::XMLElement* elem, const char* attr, std::string& text,
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bool required = false);
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// read int attribute
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static bool ReadAttrInt(tinyxml2::XMLElement* elem, const char* attr, int* data,
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bool required = false);
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// read vector<float> from string
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static void String2Vector(const std::string& txt, std::vector<float>& vec);
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// read vector<int> from string
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static void String2Vector(const std::string& txt, std::vector<int>& vec);
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// write vector<float> to string
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static void Vector2String(std::string& txt, const std::vector<float>& vec);
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// write vector<int> to string
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static void Vector2String(std::string& txt, const std::vector<int>& vec);
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// find subelement with given name, make sure it is unique
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static tinyxml2::XMLElement* FindSubElem(tinyxml2::XMLElement* elem, std::string name,
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bool required = false);
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// find attribute, translate key, return int value
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static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, int* data,
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const mjMap* map, int mapSz, bool required = false);
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// write attribute- double
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static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, double* data,
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const double* def = 0);
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// write attribute- float
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static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, float* data,
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const float* def = 0);
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// write attribute- byte
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static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, mjtByte* data,
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const mjtByte* def = 0);
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// write attribute- int
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static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, int* data,
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const int* def = 0);
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// write vector<double> attribute, with and without default
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static void WriteVector(tinyxml2::XMLElement* elem, std::string name, std::vector<double>& vec);
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static void WriteVector(tinyxml2::XMLElement* elem, std::string name, std::vector<double>& vec,
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std::vector<double>& def);
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// write attribute- string
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static void WriteAttrTxt(tinyxml2::XMLElement* elem, std::string name, std::string value);
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// write attribute- single int
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static void WriteAttrInt(tinyxml2::XMLElement* elem, std::string name, int data, int def = -12345);
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// write attribute- keyword
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static void WriteAttrKey(tinyxml2::XMLElement* elem, std::string name,
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const mjMap* map, int mapsz, int data, int def = -12345);
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};
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#endif // MUJOCO_SRC_XML_XML_UTIL_H_
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