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Replace xmlpos with info string for mjCError.

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PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
This commit is contained in:
Alessio Quaglino
2024-02-02 12:33:50 -08:00
committed by Copybara-Service
parent df76b55fe0
commit 1ed8694dbe
3 changed files with 22 additions and 27 deletions
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src/user/user_objects.cc
+12 -16
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@@ -114,9 +114,9 @@ mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos
// append info from mjCBase object
if (obj) {
// with or without xml position
if (obj->xmlpos[0]>= 0) {
mju::sprintf_arr(temp, "Object name = %s, id = %d, line = %d, column = %d",
obj->name.c_str(), obj->id, obj->xmlpos[0], obj->xmlpos[1]);
if (!obj->info.empty()) {
mju::sprintf_arr(temp, "Object name = %s, id = %d, %s",
obj->name.c_str(), obj->id, obj->info.c_str());
} else {
mju::sprintf_arr(temp, "Object name = %s, id = %d", obj->name.c_str(), obj->id);
}
@@ -512,7 +512,7 @@ mjCBase::mjCBase() {
name.clear();
classname.clear();
id = -1;
xmlpos[0] = xmlpos[1] = -1;
info = "";
model = 0;
def = 0;
frame = nullptr;
@@ -3548,11 +3548,10 @@ mjCTendon::~mjCTendon() {
// add site as wrap object
void mjCTendon::WrapSite(string name, int row, int col) {
void mjCTendon::WrapSite(string name, std::string_view info) {
// create wrap object
mjCWrap* wrap = new mjCWrap(model, this);
wrap->xmlpos[0] = row;
wrap->xmlpos[1] = col;
wrap->info = info;
// set parameters, add to path
wrap->type = mjWRAP_SITE;
@@ -3564,11 +3563,10 @@ void mjCTendon::WrapSite(string name, int row, int col) {
// add geom (with side site) as wrap object
void mjCTendon::WrapGeom(string name, string sidesite, int row, int col) {
void mjCTendon::WrapGeom(string name, string sidesite, std::string_view info) {
// create wrap object
mjCWrap* wrap = new mjCWrap(model, this);
wrap->xmlpos[0] = row;
wrap->xmlpos[1] = col;
wrap->info = info;
// set parameters, add to path
wrap->type = mjWRAP_SPHERE; // replace with cylinder later if needed
@@ -3581,11 +3579,10 @@ void mjCTendon::WrapGeom(string name, string sidesite, int row, int col) {
// add joint as wrap object
void mjCTendon::WrapJoint(string name, double coef, int row, int col) {
void mjCTendon::WrapJoint(string name, double coef, std::string_view info) {
// create wrap object
mjCWrap* wrap = new mjCWrap(model, this);
wrap->xmlpos[0] = row;
wrap->xmlpos[1] = col;
wrap->info = info;
// set parameters, add to path
wrap->type = mjWRAP_JOINT;
@@ -3598,11 +3595,10 @@ void mjCTendon::WrapJoint(string name, double coef, int row, int col) {
// add pulley
void mjCTendon::WrapPulley(double divisor, int row, int col) {
void mjCTendon::WrapPulley(double divisor, std::string_view info) {
// create wrap object
mjCWrap* wrap = new mjCWrap(model, this);
wrap->xmlpos[0] = row;
wrap->xmlpos[1] = col;
wrap->info = info;
// set parameters, add to path
wrap->type = mjWRAP_PULLEY;