Remove mjCAlternative and user_objects dependency from xml_urdf.

PiperOrigin-RevId: 618832482
Change-Id: I626bb956cd3eb35317811b9b577cc7db128262ea

src/user/user_api.cc

@@ -498,6 +498,14 @@ void mjs_setFrame(mjElement dest, mjsFrame* frame) {
 
 
 
+// Resolve alternative orientations.
+const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
+                                   const mjsOrientation* orientation) {
+  return ResolveOrientation(quat, degree, sequence, *orientation);
+}
+
+
+
 // get id
 int mjs_getId(mjElement element) {
   return reinterpret_cast<mjCBase*>(element)->id;

src/user/user_api.h

@@ -915,6 +915,10 @@ MJAPI void mjs_setDefault(mjElement element, mjmDefault* def);
 // Set frame.
 MJAPI void mjs_setFrame(mjElement dest, mjsFrame* frame);
 
+// Resolve alternative orientations to quat.
+MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
+                                         const mjsOrientation* orientation);
+
 // Compute quat and inertia from body->fullinertia.
 MJAPI const char* mjs_setFullInertia(mjsBody* body, double quat[4], double inertia[3]);
 
@@ -924,6 +928,9 @@ MJAPI const char* mjs_setFullInertia(mjsBody* body, double quat[4], double inert
 // Default model attributes.
 MJAPI void mjs_defaultSpec(mjSpec& model);
 
+// Default orientation attributes.
+MJAPI void mjs_defaultOrientation(mjsOrientation& orient);
+
 // Default body attributes.
 MJAPI void mjs_defaultBody(mjsBody& body);
 

src/user/user_flexcomp.cc

@@ -73,6 +73,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
   centered = false;
 
   mjs_defaultPlugin(plugin);
+  mjs_defaultOrientation(alt);
   plugin_name = "";
   plugin_instance_name = "";
   plugin.name = (mjString)&plugin_name;
@@ -131,7 +132,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
   }
 
   // compute orientation
-  const char* alterr = alt.Set(quat, model->spec.degree, model->spec.euler);
+  const char* alterr = mjs_resolveOrientation(quat, model->spec.degree, model->spec.euler, &alt);
   if (alterr) {
     return comperr(error, alterr, error_sz);
   }

src/user/user_flexcomp.h

@@ -79,7 +79,7 @@ class mjCFlexcomp {
   // pose transform relative to parent body
   double pos[3];                  // position
   double quat[4];                 // orientation
-  mjCAlternative alt;             // alternative orientation
+  mjsOrientation alt;             // alternative orientation
 
   // set by user or computed internally
   bool rigid;                     // all vertices are in parent body (all pinned)

src/user/user_init.cc

@@ -75,6 +75,13 @@ void mjs_defaultSpec(mjSpec& model) {
 
 
 
+// default orientation attributes
+void mjs_defaultOrientation(mjsOrientation& orient) {
+  orient.axisangle[0] = orient.xyaxes[0] = orient.zaxis[0] = orient.euler[0] = mjNAN;
+}
+
+
+
 // default body attributes
 void mjs_defaultBody(mjsBody& body) {
   memset(&body, 0, sizeof(mjsBody));

src/user/user_objects.cc

@@ -141,17 +141,22 @@ mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos
 
 
 
-//------------------ class mjCAlternative implementation -------------------------------------------
-
-// constructor
-mjCAlternative::mjCAlternative() {
-  axisangle[0] = xyaxes[0] = zaxis[0] = euler[0] = mjNAN;
-}
-
+//------------------ alternative orientation implementation ----------------------------------------
 
 // compute frame orientation given alternative specifications
 // used for geom, site, body and camera frames
-const char* mjCAlternative::Set(double* quat, bool degree, const char* sequence) {
+const char* ResolveOrientation(double* quat, bool degree, const char* sequence,
+                               const mjsOrientation& orient) {
+  mjtNum axisangle[4];
+  mjtNum xyaxes[6];
+  mjtNum zaxis[3];
+  mjtNum euler[3];
+
+  mjuu_copyvec(axisangle, orient.axisangle, 4);
+  mjuu_copyvec(xyaxes, orient.xyaxes, 6);
+  mjuu_copyvec(zaxis, orient.zaxis, 3);
+  mjuu_copyvec(euler, orient.euler, 3);
+
   // set quat using axisangle
   if (mjuu_defined(axisangle[0])) {
     // convert to radians if necessary, normalize axis
@@ -754,14 +759,6 @@ void mjCBody::CopyFromSpec() {
   *static_cast<mjsBody*>(this) = spec;
   userdata_ = spec_userdata_;
   userdata = (mjDoubleVec)&userdata_;
-  mju_copy4(alt_.axisangle, alt.axisangle);
-  mju_copy(alt_.xyaxes, alt.xyaxes, 6);
-  mju_copy3(alt_.zaxis, alt.zaxis);
-  mju_copy3(alt_.euler, alt.euler);
-  mju_copy4(ialt_.axisangle, ialt.axisangle);
-  mju_copy(ialt_.xyaxes, ialt.xyaxes, 6);
-  mju_copy3(ialt_.zaxis, ialt.zaxis);
-  mju_copy3(ialt_.euler, ialt.euler);
   plugin.active = spec.plugin.active;
   plugin.instance = spec.plugin.instance;
   plugin.name = spec.plugin.name;
@@ -1195,7 +1192,7 @@ void mjCBody::Compile(void) {
   }
 
   // check and process orientation alternatives for body
-  const char* err = alt_.Set(quat, model->degree, model->euler);
+  const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
   if (err) {
     throw mjCError(this, "error '%s' in frame alternative", err);
   }
@@ -1432,10 +1429,6 @@ void mjCFrame::CopyFromSpec() {
   *static_cast<mjsFrame*>(this) = spec;
   mju_copy3(pos, spec.pos);
   mju_copy4(quat, spec.quat);
-  mju_copy4(alt_.axisangle, alt.axisangle);
-  mju_copy(alt_.xyaxes, alt.xyaxes, 6);
-  mju_copy3(alt_.zaxis, alt.zaxis);
-  mju_copy3(alt_.euler, alt.euler);
 }
 
 
@@ -1446,7 +1439,7 @@ void mjCFrame::Compile() {
   }
 
   CopyFromSpec();
-  const char* err = alt_.Set(quat, model->spec.degree, model->spec.euler);
+  const char* err = ResolveOrientation(quat, model->spec.degree, model->spec.euler, alt);
   if (err) {
     throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
   }
@@ -1746,10 +1739,6 @@ void mjCGeom::CopyFromSpec() {
   hfieldname = (mjString)&hfieldname_;
   meshname = (mjString)&meshname_;
   material = (mjString)&material_;
-  mju_copy4(alt_.axisangle, alt.axisangle);
-  mju_copy(alt_.xyaxes, alt.xyaxes, 6);
-  mju_copy3(alt_.zaxis, alt.zaxis);
-  mju_copy3(alt_.euler, alt.euler);
   plugin.active = spec.plugin.active;
   plugin.instance = spec.plugin.instance;
   plugin.name = spec.plugin.name;
@@ -2181,7 +2170,7 @@ void mjCGeom::Compile(void) {
 
   // not 'fromto': try alternative
   else {
-    const char* err = alt_.Set(quat, model->degree, model->euler);
+    const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
     if (err) {
       throw mjCError(this, "orientation specification error '%s' in geom %d", err, id);
     }
@@ -2355,10 +2344,6 @@ void mjCSite::CopyFromSpec() {
   material_ = spec_material_;
   userdata = (mjDoubleVec)&userdata_;
   material = (mjString)&material_;
-  mju_copy4(alt_.axisangle, alt.axisangle);
-  mju_copy(alt_.xyaxes, alt.xyaxes, 6);
-  mju_copy3(alt_.zaxis, alt.zaxis);
-  mju_copy3(alt_.euler, alt.euler);
 }
 
 
@@ -2430,7 +2415,7 @@ void mjCSite::Compile(void) {
 
   // alternative orientation
   else {
-    const char* err = alt_.Set(quat, model->degree, model->euler);
+    const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
     if (err) {
       throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
     }
@@ -2514,10 +2499,6 @@ void mjCCamera::CopyFromSpec() {
   targetbody_ = spec_targetbody_;
   userdata = (mjDoubleVec)&userdata_;
   targetbody = (mjString)&targetbody_;
-  mju_copy4(alt_.axisangle, alt.axisangle);
-  mju_copy(alt_.xyaxes, alt.xyaxes, 6);
-  mju_copy3(alt_.zaxis, alt.zaxis);
-  mju_copy3(alt_.euler, alt.euler);
 }
 
 
@@ -2534,7 +2515,7 @@ void mjCCamera::Compile(void) {
   userdata_.resize(model->nuser_cam);
 
   // process orientation specifications
-  const char* err = alt_.Set(quat, model->degree, model->euler);
+  const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
   if (err) {
     throw mjCError(this, "orientation specification error '%s' in camera %d", err, id);
   }

src/user/user_objects.h

@@ -30,7 +30,6 @@
 
 // forward declarations of all mjC/X classes
 class mjCError;
-class mjCAlternative;
 class mjCBase;
 class mjCBody;
 class mjCFrame;
@@ -82,13 +81,10 @@ class [[nodiscard]] mjCError {
 
 
 // alternative specifications of frame orientation
-class mjCAlternative : public mjsOrientation {
- public:
-  mjCAlternative();                               // constuctor
-  const char* Set(double* quat,                   // set frame quat
-                  bool degree,                    // angle format: degree/radian
-                  const char* sequence);          // euler sequence format: "xyz"
-};
+const char* ResolveOrientation(double* quat,             // set frame quat
+                               bool degree,              // angle format: degree/radian
+                               const char* sequence,     // euler sequence format: "xyz"
+                               const mjsOrientation& orient);
 
 
 
@@ -223,10 +219,6 @@ class mjCBase : public mjCBase_ {
 // Describes a rigid body
 
 class mjCBody_ : public mjCBase {
- public:
-  mjCAlternative alt_;
-  mjCAlternative ialt_;
-
  protected:
   // variables computed by 'Compile' and 'AddXXX'
   int parentid;                   // parent index in global array
@@ -340,7 +332,6 @@ class mjCBody : public mjCBody_, private mjsBody {
 class mjCFrame_ : public mjCBase {
  protected:
   bool compiled;                           // frame already compiled
-  mjCAlternative alt_;
 };
 
 class mjCFrame : public mjCFrame_, private mjsFrame {
@@ -433,7 +424,6 @@ class mjCGeom_ : public mjCBase {
   bool inferinertia;           // true if inertia should be computed from geom
 
  protected:
-  mjCAlternative alt_;
   bool visual_;                       // true: geom does not collide and is unreferenced
   int matid;                          // id of geom's material
   mjCMesh* mesh;                      // geom's mesh
@@ -513,8 +503,6 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
 
 class mjCSite_ : public mjCBase {
  protected:
-  mjCAlternative alt_;
-
   // variable-size data
   std::string material_;
   std::vector<double> userdata_;
@@ -565,7 +553,6 @@ class mjCCamera_ : public mjCBase {
  protected:
   mjCBody* body;                  // camera's body
   int targetbodyid;               // id of target body; -1: none
-  mjCAlternative alt_;
   std::string targetbody_;
   std::string spec_targetbody_;
   std::vector<double> userdata_;

src/xml/xml_urdf.cc

@@ -20,7 +20,6 @@
 
 #include <mujoco/mjmodel.h>
 #include "user/user_api.h"
-#include "user/user_objects.h"
 #include "user/user_util.h"
 #include "xml/xml_native_reader.h"
 #include "xml/xml_urdf.h"
@@ -633,9 +632,10 @@ void mjXURDF::Origin(XMLElement* origin_elem, double* pos, double* quat) {
     ReadAttr(temp, "xyz", 3, pos, text);
 
     // orientation
-    mjCAlternative alt;
+    mjsOrientation alt;
+    mjs_defaultOrientation(alt);
     if (ReadAttr(temp, "rpy", 3, alt.euler, text)) {
-      alt.Set(quat, 0, "XYZ");
+      mjs_resolveOrientation(quat, 0, "XYZ", &alt);
     }
   }
 }