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Prevent attaching models with different eulerseq, autolimits, or angle options.

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PiperOrigin-RevId: 681801855
Change-Id: Iaf107853797768270319e971a3e318db0703bca0
This commit is contained in:
Alessio Quaglino
2024-10-03 03:26:57 -07:00
committed by Copybara-Service
parent e973dc74dd
commit 249c4b3f4f
2 changed files with 34 additions and 0 deletions
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src/user/user_model.cc
+14
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@@ -329,6 +329,20 @@ void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
}
mjCModel& mjCModel::operator+=(const mjCModel& other) {
// TODO: use compiler settings stored in specs_ during compilation
std::string msg = "cannot attach mjSpecs with incompatible compiler/";
if (other.spec.degree != spec.degree) {
throw mjCError(nullptr, (msg + "angle attribute").c_str());
}
if (other.spec.autolimits != spec.autolimits) {
throw mjCError(nullptr, (msg + "autolimits attribute").c_str());
}
if (other.spec.eulerseq[0] != spec.eulerseq[0] ||
other.spec.eulerseq[1] != spec.eulerseq[1] ||
other.spec.eulerseq[2] != spec.eulerseq[2]) {
throw mjCError(nullptr, (msg + "eulerseq attribute").c_str());
}
// create global lists
mjCBody *world = bodies_[0];
if (compiled) {