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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_api.cc
+7 -7
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@@ -56,7 +56,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
mjCopyError(error, "No XML model loaded", error_sz);
return std::nullopt;
}
mjm_copyBack(model_, m);
mjs_copyBack(model_, m);
std::string result = mjWriteXML(model_, error, error_sz);
if (result.empty()) {
return std::nullopt;
@@ -67,7 +67,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
void GlobalModel::Set(mjSpec* model) {
std::lock_guard<std::mutex> lock(*mutex_);
if (model_ != nullptr) {
mjm_deleteSpec(model_);
mjs_deleteSpec(model_);
}
model_ = model;
}
@@ -93,21 +93,21 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
// parse new model
std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
mjParseXML(filename, vfs, error, error_sz),
[](mjSpec* m) { mjm_deleteSpec(m); });
[](mjSpec* m) { mjs_deleteSpec(m); });
if (!model) {
return nullptr;
}
// compile new model
mjModel* m = mjm_compile(model.get(), vfs);
mjModel* m = mjs_compile(model.get(), vfs);
if (!m) {
mjCopyError(error, mjm_getError(model.get()), error_sz);
mjCopyError(error, mjs_getError(model.get()), error_sz);
return nullptr;
}
// handle compile warning
if (mjm_isWarning(model.get())) {
mjCopyError(error, mjm_getError(model.get()), error_sz);
if (mjs_isWarning(model.get())) {
mjCopyError(error, mjs_getError(model.get()), error_sz);
} else if (error) {
error[0] = '\0';
}