Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419

sample/compile.cc

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+// 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.
+
+#include "mujoco.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <ctype.h>
+
+
+// help
+const char helpstring[] =
+    "\n Usage:  compile infile outfile\n"
+    "   infile can be in mjcf, urdf, mjb format\n"
+    "   outfile can be in mjcf, mjb, txt format\n\n"
+    " Example:  compile model.xml model.mjb\n";
+
+
+// deallocate and print message
+int finish(const char* msg = 0, mjModel* m = 0)
+{
+    // deallocated everything
+    if( m )
+        mj_deleteModel(m);
+
+    // print message
+    if( msg )
+        printf("%s\n", msg);
+
+    return 0;
+}
+
+
+// possible file types
+enum
+{
+    typeUNKNOWN = 0,
+    typeXML,
+    typeMJB,
+    typeTXT
+};
+
+
+// determine file type
+int filetype(const char* filename)
+{
+    // convert to lower case for string comparison
+    char lower[1000];
+    size_t i=0;
+    while( i<strlen(filename) && i<999 )
+    {
+        lower[i] = (char)tolower(filename[i]);
+        i++;
+    }
+    lower[i] = 0;
+
+    // find last dot
+    int dot = (int)strlen(lower);
+    while( dot>=0 && lower[dot]!='.' )
+        dot--;
+
+    // no dot found
+    if( dot<0 )
+        return typeUNKNOWN;
+
+    // check extension
+    if( !strcmp(lower+dot, ".xml") || !strcmp(lower+dot, ".urdf") )
+        return typeXML;
+    else if( !strcmp(lower+dot, ".mjb") )
+        return typeMJB;
+    else if( !strcmp(lower+dot, ".txt") )
+        return typeTXT;
+    else
+        return typeUNKNOWN;
+}
+
+
+
+// main function
+int main(int argc, const char** argv)
+{
+    // model and error
+    mjModel* m = 0;
+    char error[1000];
+
+    // print help if arguments are missing
+    if( argc!=3 )
+        return finish(helpstring);
+
+    // determine file types
+    int type1 = filetype(argv[1]);
+    int type2 = filetype(argv[2]);
+
+    // check types
+    if( type1==typeUNKNOWN || type1==typeTXT ||
+        type2==typeUNKNOWN || (type1==typeMJB && type2==typeXML) )
+        return finish("Illegal combination of file formats");
+
+    // make sure output file does not exist
+    FILE* fp = fopen(argv[2], "r");
+    if( fp )
+    {
+        fclose(fp);
+        return finish("Output file already exists");
+    }
+
+    // load model
+    if( type1==typeXML )
+        m = mj_loadXML(argv[1], 0, error, 1000);
+    else
+        m = mj_loadModel(argv[1], 0);
+
+    // check error
+    if( !m )
+    {
+        if( type1==typeXML )
+            return finish(error, 0);
+        else
+            return finish("Could not load model", 0);
+    }
+
+    // save model
+    if( type2==typeXML )
+    {
+        if( mj_saveLastXML(argv[2], m, error, 1000) )
+            return finish(error, m);
+    }
+    else if( type2==typeMJB )
+        mj_saveModel(m, argv[2], 0, 0);
+    else
+        mj_printModel(m, argv[2]);
+
+    // finalize
+    return finish("Done", m);
+}