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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/xml/xml.cc
+6 -6
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@@ -345,14 +345,14 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
}
// create model, set filedir
model = mjm_createSpec();
model = mjs_createSpec();
const char* dir;
int ndir = 0;
mju_getResourceDir(resource, &dir, &ndir);
if (dir != nullptr) {
mjm_setString(model->modelfiledir, std::string(dir, ndir).c_str());
mjs_setString(model->modelfiledir, std::string(dir, ndir).c_str());
} else {
mjm_setString(model->modelfiledir, "");
mjs_setString(model->modelfiledir, "");
}
// close resource
@@ -364,8 +364,8 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
// find include elements, replace them with subtree from xml file
std::unordered_set<std::string> included = {filename};
mjXReader parser;
parser.SetModelFileDir(mjm_getString(model->modelfiledir));
mjIncludeXML(parser, root, mjm_getString(model->modelfiledir), vfs, included);
parser.SetModelFileDir(mjs_getString(model->modelfiledir));
mjIncludeXML(parser, root, mjs_getString(model->modelfiledir), vfs, included);
// parse MuJoCo model
parser.SetModel(model);
@@ -394,7 +394,7 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
// catch known errors
catch (mjXError err) {
mjCopyError(error, err.message, error_sz);
mjm_deleteSpec(model);
mjs_deleteSpec(model);
return nullptr;
}