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Support FilePaths instead of raw strings in XML code.

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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
This commit is contained in:
Kyle Bayes
2024-07-23 08:35:56 -07:00
committed by Copybara-Service
parent 2d24c58819
commit 2746cb8559
10 changed files with 195 additions and 179 deletions
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src/xml/xml_native_reader.h
+15 -14
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@@ -22,6 +22,7 @@
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "user/user_util.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
@@ -33,13 +34,13 @@ class mjXReader : public mjXBase {
void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // parse XML document
void PrintSchema(std::stringstream& str, bool html, bool pad); // print text or HTML schema
void SetModelFileDir(std::string modelfiledir);
const std::string& ModelFileDir() const { return modelfiledir_; }
void SetModelFileDir(const std::string& modelfiledir);
const mujoco::user::FilePath& ModelFileDir() const { return modelfiledir_; }
// setters for directory defaults
void SetAssetDir(std::string assetdir);
void SetMeshDir(std::string meshdir);
void SetTextureDir(std::string texturedir);
void SetAssetDir(const std::string& assetdir);
void SetMeshDir(const std::string& meshdir);
void SetTextureDir(const std::string& texturedir);
// XML sections embedded in all formats
static void Compiler(tinyxml2::XMLElement* section, mjSpec* spec); // compiler section
@@ -82,20 +83,20 @@ class mjXReader : public mjXBase {
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody);
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
mjXSchema schema; // schema used for validation
mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
mjXSchema schema; // schema used for validation
mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
bool readingdefaults; // true while reading defaults
// accessors for directory defaults
std::string AssetDir() const;
std::string MeshDir() const;
std::string TextureDir() const;
mujoco::user::FilePath AssetDir() const;
mujoco::user::FilePath MeshDir() const;
mujoco::user::FilePath TextureDir() const;
std::string modelfiledir_;
std::string assetdir_;
std::string meshdir_;
std::string texturedir_;
mujoco::user::FilePath modelfiledir_;
mujoco::user::FilePath assetdir_;
mujoco::user::FilePath meshdir_;
mujoco::user::FilePath texturedir_;
};
// MJCF schema