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rename mjspec api structs and functions mjm -> mjs

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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
This commit is contained in:
Yuval Tassa
2024-03-21 18:04:06 -07:00
committed by Copybara-Service
parent f0ad80f268
commit 4660a297d1
22 changed files with 960 additions and 959 deletions
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src/user/user_objects.h
+51 -51
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@@ -82,7 +82,7 @@ class [[nodiscard]] mjCError {
// alternative specifications of frame orientation
class mjCAlternative : public mjmOrientation {
class mjCAlternative : public mjsOrientation {
public:
mjCAlternative(); // constuctor
const char* Set(double* quat, // set frame quat
@@ -253,7 +253,7 @@ class mjCBody_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCBody : public mjCBody_, private mjmBody {
class mjCBody : public mjCBody_, private mjsBody {
friend class mjCJoint;
friend class mjCGeom;
friend class mjCSite;
@@ -300,7 +300,7 @@ class mjCBody : public mjCBody_, private mjmBody {
const char* FullInertia(double quat[4], double inertia[3]);
// variables set by user
mjmBody spec;
mjsBody spec;
// inherited
using mjCBase::name;
@@ -343,7 +343,7 @@ class mjCFrame_ : public mjCBase {
mjCAlternative alt_;
};
class mjCFrame : public mjCFrame_, private mjmFrame {
class mjCFrame : public mjCFrame_, private mjsFrame {
friend class mjCBase;
friend class mjCBody;
friend class mjCGeom;
@@ -354,7 +354,7 @@ class mjCFrame : public mjCFrame_, private mjmFrame {
friend class mjCModel;
public:
mjmFrame spec;
mjsFrame spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -389,7 +389,7 @@ class mjCJoint_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCJoint : public mjCJoint_, private mjmJoint {
class mjCJoint : public mjCJoint_, private mjsJoint {
friend class mjCDef;
friend class mjCEquality;
friend class mjCBody;
@@ -399,7 +399,7 @@ class mjCJoint : public mjCJoint_, private mjmJoint {
friend class mjXURDF;
public:
mjmJoint spec;
mjsJoint spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -457,7 +457,7 @@ class mjCGeom_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCGeom : public mjCGeom_, private mjmGeom {
class mjCGeom : public mjCGeom_, private mjsGeom {
friend class mjCDef;
friend class mjCMesh;
friend class mjCPair;
@@ -469,7 +469,7 @@ class mjCGeom : public mjCGeom_, private mjmGeom {
public:
using mjCBase::name;
mjmGeom spec; // variables set by user
mjsGeom spec; // variables set by user
double GetVolume(void); // compute geom volume
void SetInertia(void); // compute and set geom inertia
bool IsVisual(void) const { return visual_; }
@@ -526,7 +526,7 @@ class mjCSite_ : public mjCBase {
int matid; // material id for rendering
};
class mjCSite : public mjCSite_, private mjmSite {
class mjCSite : public mjCSite_, private mjsSite {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -534,9 +534,9 @@ class mjCSite : public mjCSite_, private mjmSite {
friend class mjXURDF;
public:
mjmSite spec; // variables set by user
mjsSite spec; // variables set by user
// use strings from mjCBase rather than mjStrings from mjmSite
// use strings from mjCBase rather than mjStrings from mjsSite
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -572,7 +572,7 @@ class mjCCamera_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCCamera : public mjCCamera_, private mjmCamera {
class mjCCamera : public mjCCamera_, private mjsCamera {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
@@ -580,7 +580,7 @@ class mjCCamera : public mjCCamera_, private mjmCamera {
friend class mjXWriter;
public:
mjmCamera spec;
mjsCamera spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -612,14 +612,14 @@ class mjCLight_ : public mjCBase {
std::string spec_targetbody_;
};
class mjCLight : public mjCLight_, private mjmLight {
class mjCLight : public mjCLight_, private mjsLight {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
friend class mjXWriter;
public:
mjmLight spec;
mjsLight spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -673,7 +673,7 @@ class mjCFlex_ : public mjCBase {
std::vector<float> spec_texcoord_;
};
class mjCFlex: public mjCFlex_, private mjmFlex {
class mjCFlex: public mjCFlex_, private mjsFlex {
friend class mjCDef;
friend class mjCModel;
friend class mjCFlexcomp;
@@ -681,7 +681,7 @@ class mjCFlex: public mjCFlex_, private mjmFlex {
friend class mjXWriter;
public:
mjmFlex spec;
mjsFlex spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -777,7 +777,7 @@ class mjCMesh_ : public mjCBase {
std::vector<double> face_aabb_; // bounding boxes of all faces
};
class mjCMesh: public mjCMesh_, private mjmMesh {
class mjCMesh: public mjCMesh_, private mjsMesh {
friend class mjCModel;
friend class mjCFlexcomp;
friend class mjXWriter;
@@ -787,7 +787,7 @@ class mjCMesh: public mjCMesh_, private mjmMesh {
mjCMesh& operator=(const mjCMesh& other); // copy assignment
~mjCMesh();
mjmMesh spec;
mjsMesh spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -914,12 +914,12 @@ class mjCSkin_ : public mjCBase {
std::vector<int> bodyid; // body ids
};
class mjCSkin: public mjCSkin_, private mjmSkin {
class mjCSkin: public mjCSkin_, private mjsSkin {
friend class mjCModel;
friend class mjXWriter;
public:
mjmSkin spec;
mjsSkin spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -968,13 +968,13 @@ class mjCHField_ : public mjCBase {
std::vector<float> spec_userdata_;
};
class mjCHField : public mjCHField_, private mjmHField {
class mjCHField : public mjCHField_, private mjsHField {
friend class mjCGeom;
friend class mjCModel;
friend class mjXWriter;
public:
mjmHField spec;
mjsHField spec;
using mjCBase::name;
using mjCBase::info;
@@ -1015,7 +1015,7 @@ class mjCTexture_ : public mjCBase {
std::vector<std::string> spec_cubefiles_;
};
class mjCTexture : public mjCTexture_, private mjmTexture {
class mjCTexture : public mjCTexture_, private mjsTexture {
friend class mjCModel;
friend class mjXReader;
friend class mjXWriter;
@@ -1023,7 +1023,7 @@ class mjCTexture : public mjCTexture_, private mjmTexture {
public:
~mjCTexture(); // destructor
mjmTexture spec;
mjsTexture spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1072,13 +1072,13 @@ class mjCMaterial_ : public mjCBase {
std::string spec_texture_;
};
class mjCMaterial : public mjCMaterial_, private mjmMaterial {
class mjCMaterial : public mjCMaterial_, private mjsMaterial {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
public:
mjmMaterial spec;
mjsMaterial spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1111,14 +1111,14 @@ class mjCPair_ : public mjCBase {
std::string spec_geomname2_;
};
class mjCPair : public mjCPair_, private mjmPair {
class mjCPair : public mjCPair_, private mjsPair {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
friend class mjXWriter;
public:
mjmPair spec;
mjsPair spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1163,12 +1163,12 @@ class mjCBodyPair_ : public mjCBase {
std::string spec_bodyname2_;
};
class mjCBodyPair : public mjCBodyPair_, private mjmExclude {
class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
friend class mjCBody;
friend class mjCModel;
public:
mjmExclude spec;
mjsExclude spec;
using mjCBase::name;
using mjCBase::info;
@@ -1207,14 +1207,14 @@ class mjCEquality_ : public mjCBase {
std::string spec_name2_;
};
class mjCEquality : public mjCEquality_, private mjmEquality {
class mjCEquality : public mjCEquality_, private mjsEquality {
friend class mjCDef;
friend class mjCBody;
friend class mjCModel;
friend class mjXWriter;
public:
mjmEquality spec;
mjsEquality spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1248,13 +1248,13 @@ class mjCTendon_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCTendon : public mjCTendon_, private mjmTendon {
class mjCTendon : public mjCTendon_, private mjsTendon {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
public:
mjmTendon spec;
mjsTendon spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1308,12 +1308,12 @@ class mjCWrap_ : public mjCBase {
std::string sidesite; // name of side site
};
class mjCWrap : public mjCWrap_, private mjmWrap {
class mjCWrap : public mjCWrap_, private mjsWrap {
friend class mjCTendon;
friend class mjCModel;
public:
mjmWrap spec;
mjsWrap spec;
using mjCBase::info;
void PointToLocal();
@@ -1350,7 +1350,7 @@ class mjCPlugin : public mjCPlugin_ {
friend class mjXWriter;
public:
mjmPlugin spec;
mjsPlugin spec;
mjCBase* parent; // parent object (only used when generating error message)
mjCPlugin(const mjCPlugin& other); // copy constructor
@@ -1383,13 +1383,13 @@ class mjCActuator_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCActuator : public mjCActuator_, private mjmActuator {
class mjCActuator : public mjCActuator_, private mjsActuator {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
public:
mjmActuator spec;
mjsActuator spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1438,13 +1438,13 @@ class mjCSensor_ : public mjCBase {
std::vector<double> spec_userdata_;
};
class mjCSensor : public mjCSensor_, private mjmSensor {
class mjCSensor : public mjCSensor_, private mjsSensor {
friend class mjCDef;
friend class mjCModel;
friend class mjXWriter;
public:
mjmSensor spec;
mjsSensor spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::info;
@@ -1480,12 +1480,12 @@ class mjCNumeric_ : public mjCBase {
std::vector<double> spec_data_;
};
class mjCNumeric : public mjCNumeric_, private mjmNumeric {
class mjCNumeric : public mjCNumeric_, private mjsNumeric {
friend class mjCModel;
friend class mjXWriter;
public:
mjmNumeric spec;
mjsNumeric spec;
using mjCBase::name;
using mjCBase::info;
@@ -1512,12 +1512,12 @@ class mjCText_ : public mjCBase {
std::string spec_data_;
};
class mjCText : public mjCText_, private mjmText {
class mjCText : public mjCText_, private mjsText {
friend class mjCModel;
friend class mjXWriter;
public:
mjmText spec;
mjsText spec;
using mjCBase::name;
using mjCBase::info;
@@ -1549,12 +1549,12 @@ class mjCTuple_ : public mjCBase {
std::vector<double> spec_objprm_;
};
class mjCTuple : public mjCTuple_, private mjmTuple {
class mjCTuple : public mjCTuple_, private mjsTuple {
friend class mjCModel;
friend class mjXWriter;
public:
mjmTuple spec;
mjsTuple spec;
using mjCBase::name;
using mjCBase::info;
@@ -1593,12 +1593,12 @@ class mjCKey_ : public mjCBase {
std::vector<double> spec_ctrl_;
};
class mjCKey : public mjCKey_, private mjmKey {
class mjCKey : public mjCKey_, private mjsKey {
friend class mjCModel;
friend class mjXWriter;
public:
mjmKey spec;
mjsKey spec;
using mjCBase::name;
using mjCBase::info;