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Check for duplicated names when setting element names.

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PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
This commit is contained in:
Alessio Quaglino
2025-07-03 03:19:51 -07:00
committed by Copybara-Service
parent 594e17074a
commit 564c51ddb9
12 changed files with 96 additions and 74 deletions
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src/user/user_api.cc
+9 -2
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@@ -1342,14 +1342,21 @@ mjsPlugin* mjs_asPlugin(mjsElement* element) {
// set element name
void mjs_setName(mjsElement* element, const char* name) {
int mjs_setName(mjsElement* element, const char* name) {
if (element->elemtype == mjOBJ_DEFAULT) {
mjCDef* def = static_cast<mjCDef*>(element);
def->name = std::string(name);
return;
return 0;
}
mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->name = std::string(name);
try {
baseC->model->CheckRepeat(element->elemtype);
} catch (mjCError& e) {
baseC->model->SetError(e);
return -1;
}
return 0;
}
src/user/user_api.h
+2 -2
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@@ -339,8 +339,8 @@ MJAPI mjsPlugin* mjs_asPlugin(mjsElement* element);
//---------------------------------- Attribute setters ---------------------------------------------
// Set element's name.
MJAPI void mjs_setName(mjsElement* element, const char* name);
// Set element's name, return 0 on success.
MJAPI int mjs_setName(mjsElement* element, const char* name);
// Copy buffer.
MJAPI void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
src/user/user_model.cc
+64 -50
View File
@@ -116,50 +116,6 @@ bool IsNullPose(const T pos[3], const T quat[4]) {
return IsSamePose(pos, zero, quat, qunit);
}
// set ids, check for repeated names
template <class T>
static void processlist(mjListKeyMap& ids, vector<T*>& list,
mjtObj type, bool checkrepeat = true) {
// assign ids for regular elements
if (type < mjNOBJECT) {
for (size_t i=0; i < list.size(); i++) {
// check for incompatible id setting; SHOULD NOT OCCUR
if (list[i]->id != -1 && list[i]->id != i) {
throw mjCError(list[i], "incompatible id in %s array, position %d", mju_type2Str(type), i);
}
// id equals position in array
list[i]->id = i;
// add to ids map
ids[type][list[i]->name] = i;
}
}
// check for repeated names
if (checkrepeat) {
// created vectors with all names
vector<string> allnames;
for (size_t i=0; i < list.size(); i++) {
if (!list[i]->name.empty()) {
allnames.push_back(list[i]->name);
}
}
// sort and check for duplicates
if (allnames.size() > 1) {
std::sort(allnames.begin(), allnames.end());
auto adjacent = std::adjacent_find(allnames.begin(), allnames.end());
if (adjacent != allnames.end()) {
string msg = "repeated name '" + *adjacent + "' in " + mju_type2Str(type);
throw mjCError(nullptr, "%s", msg.c_str());
}
}
}
}
} // namespace
//---------------------------------- CONSTRUCTOR AND DESTRUCTOR ------------------------------------
@@ -308,7 +264,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
dest.back()->CopyPlugin();
}
if (!dest.empty()) {
processlist(ids, dest, dest[0]->elemtype);
ProcessList_(ids, dest, dest[0]->elemtype);
}
}
@@ -548,7 +504,7 @@ void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
}
if (removed > 0 && !list.empty()) {
// if any elements were removed, update ids using processlist
processlist(ids, list, list[0]->elemtype, /*checkrepeat=*/false);
ProcessList_(ids, list, list[0]->elemtype, /*checkrepeat=*/false);
}
}
@@ -604,7 +560,7 @@ void mjCModel::RemovePlugins() {
// if any elements were removed, update ids using processlist
if (removed > 0 && !plugins_.empty()) {
processlist(ids, plugins_, plugins_[0]->elemtype, /*checkrepeat=*/false);
ProcessList_(ids, plugins_, plugins_[0]->elemtype, /*checkrepeat=*/false);
}
}
@@ -4052,7 +4008,7 @@ void mjCModel::FuseStatic(void) {
}
// remove empty names
processlist(ids, bodies_, mjOBJ_BODY, true);
ProcessList_(ids, bodies_, mjOBJ_BODY, /*checkrepeat=*/true);
}
@@ -4083,12 +4039,70 @@ void mjCModel::ProcessLists(bool checkrepeat) {
for (int i = 0; i < mjNOBJECT; i++) {
if (i != mjOBJ_XBODY && object_lists_[i]) {
ids[i].clear();
processlist(ids, *object_lists_[i], (mjtObj) i, checkrepeat);
ProcessList_(ids, *object_lists_[i], (mjtObj) i, checkrepeat);
}
}
// check repeated names in meta elements
processlist(ids, frames_, mjOBJ_FRAME, checkrepeat);
ProcessList_(ids, frames_, mjOBJ_FRAME, checkrepeat);
}
// set ids, check for repeated names
template <class T>
void mjCModel::ProcessList_(mjListKeyMap& ids, vector<T*>& list,
mjtObj type, bool checkrepeat) {
// assign ids for regular elements
if (type < mjNOBJECT) {
for (size_t i=0; i < list.size(); i++) {
// check for incompatible id setting; SHOULD NOT OCCUR
if (list[i]->id != -1 && list[i]->id != i) {
throw mjCError(list[i], "incompatible id in %s array, position %d", mju_type2Str(type), i);
}
// id equals position in array
list[i]->id = i;
// add to ids map
ids[type][list[i]->name] = i;
}
}
// check for repeated names
if (checkrepeat) {
CheckRepeat(type);
}
}
// check for repeated names in list
void mjCModel::CheckRepeat(mjtObj type) {
std::vector<mjCBase*>* list = nullptr;
if (type < mjNOBJECT) {
list = object_lists_[type];
} else if (type == mjOBJ_FRAME) {
list = (std::vector<mjCBase*>*) &frames_;
}
// created vectors with all names
vector<string> allnames;
for (size_t i=0; i < list->size(); i++) {
if (!(*list)[i]->name.empty()) {
allnames.push_back((*list)[i]->name);
}
}
// sort and check for duplicates
if (allnames.size() > 1) {
std::sort(allnames.begin(), allnames.end());
auto adjacent = std::adjacent_find(allnames.begin(), allnames.end());
if (adjacent != allnames.end()) {
string msg = "repeated name '" + *adjacent + "' in " + mju_type2Str(type);
throw mjCError(nullptr, "%s", msg.c_str());
}
}
}
src/user/user_model.h
+7
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@@ -323,6 +323,9 @@ class mjCModel : public mjCModel_, private mjSpec {
// set attached flag
void SetAttached(bool deepcopy) { attached_ |= !deepcopy; }
// check for repeated names in list
void CheckRepeat(mjtObj type);
private:
// settings for each defaults class
std::vector<mjCDef*> defaults_;
@@ -411,6 +414,10 @@ class mjCModel : public mjCModel_, private mjSpec {
// populate objects ids
void ProcessLists(bool checkrepeat = true);
// process list of objects
template <class T> void ProcessList_(mjListKeyMap& ids, std::vector<T*>& list,
mjtObj type, bool checkrepeat = true);
// reset lists of kinematic tree
void ResetTreeLists();
src/user/user_objects.cc
-6
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@@ -1403,7 +1403,6 @@ mjCJoint* mjCBody::AddFreeJoint() {
model->ResetTreeLists();
model->MakeTreeLists();
// update signature
model->spec.element->signature = model->Signature();
return obj;
@@ -1425,7 +1424,6 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
model->ResetTreeLists();
model->MakeTreeLists();
// update signature
model->spec.element->signature = model->Signature();
return obj;
@@ -1447,7 +1445,6 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
model->ResetTreeLists();
model->MakeTreeLists();
// update signature
model->spec.element->signature = model->Signature();
return obj;
@@ -1469,7 +1466,6 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
model->ResetTreeLists();
model->MakeTreeLists();
// update signature
model->spec.element->signature = model->Signature();
return obj;
@@ -1491,7 +1487,6 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
model->ResetTreeLists();
model->MakeTreeLists();
// update signature
model->spec.element->signature = model->Signature();
return obj;
@@ -1513,7 +1508,6 @@ mjCLight* mjCBody::AddLight(mjCDef* _def) {
model->ResetTreeLists();
model->MakeTreeLists();
// update signature
model->spec.element->signature = model->Signature();
return obj;