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Add copy constructor and assignment to mjCModel.

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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
This commit is contained in:
Alessio Quaglino
2024-03-18 09:24:36 -07:00
committed by Copybara-Service
parent de918a8b2d
commit 372aa021d0
8 changed files with 766 additions and 333 deletions
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src/user/user_model.h
+158 -151
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@@ -33,133 +33,9 @@
typedef std::map<std::string, int, std::less<> > mjKeyMap;
typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
// mjCModel contains everything needed to generate the low-level model.
// It can be constructed manually by calling 'Add' functions and setting
// the public fields of the various objects. Alternatively it can constructed
// by loading an XML file via mjCXML. Once an mjCModel object is
// constructed, 'Compile' can be called to generate the corresponding mjModel object
// (which is the low-level model). The mjCModel object can then be deleted.
class mjCModel : private mjSpec {
friend class mjCBody;
friend class mjCCamera;
friend class mjCGeom;
friend class mjCFlex;
friend class mjCHField;
friend class mjCFrame;
friend class mjCJoint;
friend class mjCEquality;
friend class mjCMesh;
friend class mjCSkin;
friend class mjCSite;
friend class mjCTendon;
friend class mjCTexture;
friend class mjCActuator;
friend class mjCSensor;
friend class mjCDef;
friend class mjXReader;
friend class mjXWriter;
public:
mjCModel();
mjCModel(const mjCModel& other);
~mjCModel();
void CopyFromSpec(); // copy spec to private attributes
void PointToLocal();
mjSpec spec;
mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
void FuseStatic(); // fuse static bodies with parent
void FuseReindex(mjCBody* body); // reindex elements during fuse
// API for adding model elements
mjCFlex* AddFlex();
mjCMesh* AddMesh(mjCDef* def = nullptr);
mjCSkin* AddSkin();
mjCHField* AddHField();
mjCTexture* AddTexture();
mjCMaterial* AddMaterial(mjCDef* def = nullptr);
mjCPair* AddPair(mjCDef* def = nullptr); // geom pair for inclusion
mjCBodyPair* AddExclude(); // body pair for exclusion
mjCEquality* AddEquality(mjCDef* def = nullptr); // equality constraint
mjCTendon* AddTendon(mjCDef* def = nullptr);
mjCActuator* AddActuator(mjCDef* def = nullptr);
mjCSensor* AddSensor();
mjCNumeric* AddNumeric();
mjCText* AddText();
mjCTuple* AddTuple();
mjCKey* AddKey();
mjCPlugin* AddPlugin();
// delete elements marked as discard=true
template <class T> void Delete(std::vector<T*>& elements,
const std::vector<bool>& discard);
// delete all elements
template <class T> void DeleteAll(std::vector<T*>& elements);
// API for access to model elements (outside tree)
int NumObjects(mjtObj type); // number of objects in specified list
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
// API for access to other variables
bool IsCompiled(); // is model already compiled
int GetFixed(); // number of fixed massless bodies
const mjCError& GetError(void); // get reference of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDef(std::string name); // find default class name
mjCDef* AddDef(std::string name, int parentid); // add default class to array
mjCBase* FindObject(mjtObj type, std::string name); // find object given type and name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat); // detect null pose
// accessors
std::string get_meshdir(void) const { return meshdir_; }
std::string get_texturedir(void) const { return texturedir_; }
// resolve plugin instance, create a new one if needed
void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
const std::string& plugin_instance_name,
mjCPlugin** plugin_instance);
// settings for each defaults class
std::vector<mjCDef*> defaults;
// list of active plugins
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
private:
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
mjModel* _Compile(const mjVFS* vfs);
// clear objects allocated by Compile
void Clear(void);
// add object of any type
template <class T> T* AddObject(std::vector<T*>& list, std::string type);
// add object of any type, with def parameter
template <class T> T* AddObjectDef(std::vector<T*>& list, std::string type,
mjCDef* def);
// if asset name is missing, set to filename
template<class T> void SetDefaultNames(std::vector<T*>& assets);
// delete material from object
template <class T> void DeleteMaterial(std::vector<T*>& list,
std::string_view name = "");
// compile phases
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
void IndexAssets(bool discard); // convert asset names into indices
void CheckEmptyNames(); // check empty names
void SetSizes(); // compute sizes
void AutoSpringDamper(mjModel*); // automatic stiffness and damping computation
void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
void CopyNames(mjModel*); // copy names, compute name addresses
void CopyPaths(mjModel*); // copy paths, compute path addresses
void CopyObjects(mjModel*); // copy objects outside kinematic tree
void CopyTree(mjModel*); // copy objects inside kinematic tree
class mjCModel_ {
protected:
bool compiled; // already compiled flag
// sizes set from object list lengths
int nbody; // number of bodies
@@ -224,6 +100,158 @@ class mjCModel : private mjSpec {
int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix
// statistics, as computed by mj_setConst
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
double meanmass_auto; // mean body mass, as computed by mj_setConst
double meansize_auto; // mean body size, as computed by mj_setConst
double extent_auto; // spatial extent, as computed by mj_setConst
double center_auto[3]; // center of model, as computed by mj_setConst
// save qpos0, to recognize changed key_qpos in write
std::vector<mjtNum> qpos0;
// variable-size attributes
std::string comment_; // comment at top of XML
std::string modelfiledir_; // path to model file
std::string modelname_;
std::string meshdir_;
std::string texturedir_;
std::string spec_comment_;
std::string spec_modelfiledir_;
std::string spec_modelname_;
std::string spec_meshdir_;
std::string spec_texturedir_;
};
// mjCModel contains everything needed to generate the low-level model.
// It can be constructed manually by calling 'Add' functions and setting
// the public fields of the various objects. Alternatively it can constructed
// by loading an XML file via mjCXML. Once an mjCModel object is
// constructed, 'Compile' can be called to generate the corresponding mjModel object
// (which is the low-level model). The mjCModel object can then be deleted.
class mjCModel : public mjCModel_, private mjSpec {
friend class mjCBase;
friend class mjCBody;
friend class mjCCamera;
friend class mjCGeom;
friend class mjCFlex;
friend class mjCHField;
friend class mjCFrame;
friend class mjCJoint;
friend class mjCEquality;
friend class mjCMesh;
friend class mjCSkin;
friend class mjCSite;
friend class mjCTendon;
friend class mjCTexture;
friend class mjCActuator;
friend class mjCSensor;
friend class mjCDef;
friend class mjXReader;
friend class mjXWriter;
public:
mjCModel();
mjCModel(const mjCModel& other);
mjCModel& operator=(const mjCModel& other);
~mjCModel();
void CopyFromSpec(); // copy spec to private attributes
void PointToLocal();
mjSpec spec;
mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
void FuseStatic(); // fuse static bodies with parent
void FuseReindex(mjCBody* body); // reindex elements during fuse
// API for adding model elements
mjCFlex* AddFlex();
mjCMesh* AddMesh(mjCDef* def = nullptr);
mjCSkin* AddSkin();
mjCHField* AddHField();
mjCTexture* AddTexture();
mjCMaterial* AddMaterial(mjCDef* def = nullptr);
mjCPair* AddPair(mjCDef* def = nullptr); // geom pair for inclusion
mjCBodyPair* AddExclude(); // body pair for exclusion
mjCEquality* AddEquality(mjCDef* def = nullptr); // equality constraint
mjCTendon* AddTendon(mjCDef* def = nullptr);
mjCActuator* AddActuator(mjCDef* def = nullptr);
mjCSensor* AddSensor();
mjCNumeric* AddNumeric();
mjCText* AddText();
mjCTuple* AddTuple();
mjCKey* AddKey();
mjCPlugin* AddPlugin();
// delete elements marked as discard=true
template <class T> void Delete(std::vector<T*>& elements,
const std::vector<bool>& discard);
// delete all elements
template <class T> void DeleteAll(std::vector<T*>& elements);
// API for access to model elements (outside tree)
int NumObjects(mjtObj type); // number of objects in specified list
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
// API for access to other variables
bool IsCompiled(); // is model already compiled
const mjCError& GetError(void); // get reference of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDef(std::string name); // find default class name
mjCDef* AddDef(std::string name, int parentid); // add default class to array
mjCBase* FindObject(mjtObj type, std::string name); // find object given type and name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat); // detect null pose
// accessors
std::string get_meshdir(void) const { return meshdir_; }
std::string get_texturedir(void) const { return texturedir_; }
// resolve plugin instance, create a new one if needed
void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
const std::string& plugin_instance_name,
mjCPlugin** plugin_instance);
// settings for each defaults class
std::vector<mjCDef*> defaults;
// list of active plugins
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
private:
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
mjModel* _Compile(const mjVFS* vfs);
// clear objects allocated by Compile
void Clear(void);
// add object of any type
template <class T> T* AddObject(std::vector<T*>& list, std::string type);
// add object of any type, with def parameter
template <class T> T* AddObjectDef(std::vector<T*>& list, std::string type,
mjCDef* def);
// if asset name is missing, set to filename
template<class T> void SetDefaultNames(std::vector<T*>& assets);
// delete material from object
template <class T> void DeleteMaterial(std::vector<T*>& list,
std::string_view name = "");
// compile phases
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
void IndexAssets(bool discard); // convert asset names into indices
void CheckEmptyNames(); // check empty names
void SetSizes(); // compute sizes
void AutoSpringDamper(mjModel*); // automatic stiffness and damping computation
void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
void CopyNames(mjModel*); // copy names, compute name addresses
void CopyPaths(mjModel*); // copy paths, compute path addresses
void CopyObjects(mjModel*); // copy objects outside kinematic tree
void CopyTree(mjModel*); // copy objects inside kinematic tree
// objects created here
std::vector<mjCFlex*> flexes; // list of flexes
std::vector<mjCMesh*> meshes; // list of meshes
@@ -255,32 +283,11 @@ class mjCModel : private mjSpec {
// array of pointers to each object list (enumerated by type)
std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists;
// statistics, as computed by mj_setConst
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
double meanmass_auto; // mean body mass, as computed by mj_setConst
double meansize_auto; // mean body size, as computed by mj_setConst
double extent_auto; // spatial extent, as computed by mj_setConst
double center_auto[3]; // center of model, as computed by mj_setConst
// create mjCBase lists from children lists
void CreateObjectLists();
mjListKeyMap ids; // map from object names to ids
bool compiled; // already compiled flag (cannot be compiled again)
mjCError errInfo; // last error info
int fixCount; // how many bodies have been fixed
// save qpos0, to recognize changed key_qpos in write
std::vector<mjtNum> qpos0;
// variable-size attributes
std::string comment_; // comment at top of XML
std::string modelfiledir_; // path to model file
std::string modelname_;
std::string meshdir_;
std::string texturedir_;
std::string spec_comment_;
std::string spec_modelfiledir_;
std::string spec_modelname_;
std::string spec_meshdir_;
std::string spec_texturedir_;
bool plugin_owner; // this class allocated the plugins
};
#endif // MUJOCO_SRC_USER_USER_MODEL_H_