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Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API.

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PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
This commit is contained in:
Alessio Quaglino
2024-02-14 03:09:38 -08:00
committed by Copybara-Service
parent 266161ee4c
commit 2ee8a4dabd
9 changed files with 482 additions and 164 deletions
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src/xml/xml_native_writer.cc
+23 -23
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@@ -1283,7 +1283,7 @@ void mjXWriter::Custom(XMLElement* root) {
elem = InsertEnd(section, "numeric");
WriteAttrTxt(elem, "name", ptr->name);
WriteAttrInt(elem, "size", ptr->size);
WriteAttr(elem, "data", ptr->size, ptr->data.data());
WriteAttr(elem, "data", ptr->size, ptr->data_.data());
}
// write all texts
@@ -1291,7 +1291,7 @@ void mjXWriter::Custom(XMLElement* root) {
mjCText* ptr = (mjCText*)model->GetObject(mjOBJ_TEXT, i);
elem = InsertEnd(section, "text");
WriteAttrTxt(elem, "name", ptr->name);
WriteAttrTxt(elem, "data", ptr->data.c_str());
WriteAttrTxt(elem, "data", ptr->data_.c_str());
}
// write all tuples
@@ -1301,11 +1301,11 @@ void mjXWriter::Custom(XMLElement* root) {
WriteAttrTxt(elem, "name", ptr->name);
// write objects in tuple
for (int j=0; j<(int)ptr->objtype.size(); j++) {
for (int j=0; j<(int)ptr->objtype_.size(); j++) {
XMLElement* obj = InsertEnd(elem, "element");
WriteAttrTxt(obj, "objtype", mju_type2Str((int)ptr->objtype[j]));
WriteAttrTxt(obj, "objname", ptr->objname[j].c_str());
double oprm = ptr->objprm[j];
WriteAttrTxt(obj, "objtype", mju_type2Str((int)ptr->objtype_[j]));
WriteAttrTxt(obj, "objname", ptr->objname_[j].c_str());
double oprm = ptr->objprm_[j];
if (oprm!=0) {
WriteAttr(obj, "prm", 1, &oprm);
}
@@ -1964,8 +1964,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
// check qpos and write
for (int j=0; j<model->nq; j++) {
if (pk->qpos[j]!=model->qpos0[j]) {
WriteAttr(elem, "qpos", model->nq, pk->qpos.data());
if (pk->qpos_[j]!=model->qpos0[j]) {
WriteAttr(elem, "qpos", model->nq, pk->qpos_.data());
change = true;
break;
}
@@ -1973,8 +1973,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
// check qvel and write
for (int j=0; j<model->nv; j++) {
if (pk->qvel[j]!=0) {
WriteAttr(elem, "qvel", model->nv, pk->qvel.data());
if (pk->qvel_[j]!=0) {
WriteAttr(elem, "qvel", model->nv, pk->qvel_.data());
change = true;
break;
}
@@ -1982,8 +1982,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
// check act and write
for (int j=0; j<model->na; j++) {
if (pk->act[j]!=0) {
WriteAttr(elem, "act", model->na, pk->act.data());
if (pk->act_[j]!=0) {
WriteAttr(elem, "act", model->na, pk->act_.data());
change = true;
break;
}
@@ -1995,10 +1995,10 @@ void mjXWriter::Keyframe(XMLElement* root) {
if (model->bodies[j]->mocap) {
mjCBody* pb = model->bodies[j];
int id = pb->mocapid;
if (pb->pos[0] != pk->mpos[3*id] ||
pb->pos[1] != pk->mpos[3*id+1] ||
pb->pos[2] != pk->mpos[3*id+2]) {
WriteAttr(elem, "mpos", 3*model->nmocap, pk->mpos.data());
if (pb->pos[0] != pk->mpos_[3*id] ||
pb->pos[1] != pk->mpos_[3*id+1] ||
pb->pos[2] != pk->mpos_[3*id+2]) {
WriteAttr(elem, "mpos", 3*model->nmocap, pk->mpos_.data());
change = true;
break;
}
@@ -2012,11 +2012,11 @@ void mjXWriter::Keyframe(XMLElement* root) {
if (model->bodies[j]->mocap) {
mjCBody* pb = model->bodies[j];
int id = pb->mocapid;
if (pb->quat[0] != pk->mquat[4*id] ||
pb->quat[1] != pk->mquat[4*id+1] ||
pb->quat[2] != pk->mquat[4*id+2] ||
pb->quat[3] != pk->mquat[4*id+3]) {
WriteAttr(elem, "mquat", 4*model->nmocap, pk->mquat.data());
if (pb->quat[0] != pk->mquat_[4*id] ||
pb->quat[1] != pk->mquat_[4*id+1] ||
pb->quat[2] != pk->mquat_[4*id+2] ||
pb->quat[3] != pk->mquat_[4*id+3]) {
WriteAttr(elem, "mquat", 4*model->nmocap, pk->mquat_.data());
change = true;
break;
}
@@ -2026,8 +2026,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
// check ctrl and write
for (int j=0; j<model->nu; j++) {
if (pk->ctrl[j]!=0) {
WriteAttr(elem, "ctrl", model->nu, pk->ctrl.data());
if (pk->ctrl_[j]!=0) {
WriteAttr(elem, "ctrl", model->nu, pk->ctrl_.data());
change = true;
break;
}