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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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test/user/user_api_test.cc
+24 -24
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@@ -39,28 +39,28 @@ using ::testing::NotNull;
// ----------------------------- test set/get --------------------------------
TEST_F(MujocoTest, ReadWriteData) {
mjSpec* spec = mjm_createSpec();
mjmBody* world = mjm_findBody(spec, "world");
mjmBody* body = mjm_addBody(world, 0);
mjmSite* site = mjm_addSite(body, 0);
mjSpec* spec = mjs_createSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
mjsSite* site = mjs_addSite(body, 0);
{
double vec[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
const char* str = "sitename";
mjm_setString(site->name, str);
mjm_setDouble(site->userdata, vec, 10);
mjs_setString(site->name, str);
mjs_setDouble(site->userdata, vec, 10);
}
EXPECT_THAT(mjm_getString(site->name), HasSubstr("sitename"));
EXPECT_THAT(mjs_getString(site->name), HasSubstr("sitename"));
int nsize;
const double* vec = mjm_getDouble(site->userdata, &nsize);
const double* vec = mjs_getDouble(site->userdata, &nsize);
for (int i = 0; i < nsize; ++i) {
EXPECT_EQ(vec[i], i);
}
mjm_deleteSpec(spec);
mjs_deleteSpec(spec);
}
// ------------------- test recompilation multiple files ----------------------
@@ -93,12 +93,12 @@ TEST_F(PluginTest, RecompileCompare) {
mjSpec* s = mjParseXML(xml.c_str(), nullptr, err.data(), err.size());
// copy spec
mjSpec* s_copy = mjm_copySpec(s);
mjSpec* s_copy = mjs_copySpec(s);
// compile twice and compare
mjModel* m_old = mjm_compile(s, nullptr);
mjModel* m_new = mjm_compile(s, nullptr);
mjModel* m_copy = mjm_compile(s_copy, nullptr);
mjModel* m_old = mjs_compile(s, nullptr);
mjModel* m_new = mjs_compile(s, nullptr);
mjModel* m_copy = mjs_compile(s_copy, nullptr);
ASSERT_THAT(m_old, NotNull())
<< "Failed to compile " << xml << ": " << err.data();
@@ -118,8 +118,8 @@ TEST_F(PluginTest, RecompileCompare) {
<< "Different field: " << field << '\n';
// copy to a new spec, compile and compare
mjSpec* s_copy2 = mjm_copySpec(s);
mjModel* m_copy2 = mjm_compile(s_copy2, nullptr);
mjSpec* s_copy2 = mjs_copySpec(s);
mjModel* m_copy2 = mjs_compile(s_copy2, nullptr);
ASSERT_THAT(m_copy2, NotNull())
<< "Failed to compile " << xml << ": " << err.data();
@@ -130,9 +130,9 @@ TEST_F(PluginTest, RecompileCompare) {
<< "Different field: " << field << '\n';
// delete models
mjm_deleteSpec(s);
mjm_deleteSpec(s_copy);
mjm_deleteSpec(s_copy2);
mjs_deleteSpec(s);
mjs_deleteSpec(s_copy);
mjs_deleteSpec(s_copy2);
mj_deleteModel(m_old);
mj_deleteModel(m_new);
mj_deleteModel(m_copy);
@@ -273,7 +273,7 @@ TEST_F(MujocoTest, Attach) {
EXPECT_THAT(parent, NotNull()) << er.data();
// get frame
mjmFrame* frame = mjm_findFrame(parent, "frame");
mjsFrame* frame = mjs_findFrame(parent, "frame");
EXPECT_THAT(frame, NotNull());
// model with one cylinder and a hinge
@@ -281,15 +281,15 @@ TEST_F(MujocoTest, Attach) {
EXPECT_THAT(child, NotNull()) << er.data();
// get subtree
mjmBody* body = mjm_findBody(child, "body");
mjsBody* body = mjs_findBody(child, "body");
EXPECT_THAT(body, NotNull());
// attach child to parent frame
EXPECT_THAT(
mjm_attachBody(frame, body, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
mjs_attachBody(frame, body, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
// compile new model
mjModel* m_attached = mjm_compile(parent, 0);
mjModel* m_attached = mjs_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
@@ -306,8 +306,8 @@ TEST_F(MujocoTest, Attach) {
<< "Different field: " << field << '\n';;
// destroy everything
mjm_deleteSpec(parent);
mjm_deleteSpec(child);
mjs_deleteSpec(parent);
mjs_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}