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Make mjSpec related getter/find utilities take const parameters.

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PiperOrigin-RevId: 910848529
Change-Id: I1c966a6299fe47317cbf0bfb8f8b835cbcd4ed65
This commit is contained in:
Sam Haves
2026-05-05 12:34:58 -07:00
committed by Copybara-Service
parent d249c882d5
commit 579a27e9d2
10 changed files with 175 additions and 181 deletions
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src/user/user_api.cc
+53 -59
View File
@@ -1302,61 +1302,56 @@ const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double
// get spec from body
mjSpec* mjs_getSpec(mjsElement* element) {
return &(static_cast<mjCBase*>(element)->model->spec);
mjSpec* mjs_getSpec(const mjsElement* element) {
return &(static_cast<const mjCBase*>(element)->model->spec);
}
mjsCompiler* mjs_getCompiler(mjsElement* element) {
return static_cast<mjCBase*>(element)->compiler;
mjsCompiler* mjs_getCompiler(const mjsElement* element) {
return static_cast<const mjCBase*>(element)->compiler;
}
// find spec (model asset) by name
mjSpec* mjs_findSpec(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
mjSpec* mjs_findSpec(const mjSpec* s, const char* name) {
const mjCModel* model = static_cast<mjCModel*>(s->element);
return model->FindSpec(name);
}
// get default
mjsDefault* mjs_getDefault(mjsElement* element) {
mjCModel* model = static_cast<mjCBase*>(element)->model;
std::string classname = static_cast<mjCBase*>(element)->classname;
return &(model->def_map[classname]->spec);
mjsDefault* mjs_getDefault(const mjsElement* element) {
const mjCModel* model = static_cast<const mjCBase*>(element)->model;
std::string classname = static_cast<const mjCBase*>(element)->classname;
auto it = model->def_map.find(classname);
return (it != model->def_map.end()) ? &it->second->spec : nullptr;
}
// Find default with given name in model.
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname) {
const mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* cdef = modelC->FindDefault(classname);
if (!cdef) {
return nullptr;
}
return &cdef->spec;
return cdef ? &cdef->spec : nullptr;
}
// get default[0] from model
mjsDefault* mjs_getSpecDefault(mjSpec* s) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjsDefault* mjs_getSpecDefault(const mjSpec* s) {
const mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjCDef* def = modelC->Default();
if (!def) {
return nullptr;
}
return &def->spec;
return def ? &def->spec : nullptr;
}
// find body in model by name
mjsBody* mjs_findBody(mjSpec* s, const char* name) {
mjsBody* mjs_findBody(const mjSpec* s, const char* name) {
mjsElement* body = mjs_findElement(s, mjOBJ_BODY, name);
return body ? &(static_cast<mjCBody*>(body)->spec) : nullptr;
}
@@ -1364,7 +1359,7 @@ mjsBody* mjs_findBody(mjSpec* s, const char* name) {
// find element in spec by name
mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
if (model->IsCompiled() && type != mjOBJ_FRAME) {
return model->FindObject(type, std::string(name)); // fast lookup
@@ -1390,8 +1385,8 @@ mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
// find child of a body by name
mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjsBody* mjs_findChild(const mjsBody* bodyspec, const char* name) {
const mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr;
}
@@ -1399,22 +1394,22 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
// get parent body
mjsBody* mjs_getParent(mjsElement* element) {
mjsBody* mjs_getParent(const mjsElement* element) {
switch (element->elemtype) {
case mjOBJ_BODY:
return &(static_cast<mjCBody*>(element)->GetParent()->spec);
return &(static_cast<const mjCBody*>(element)->GetParent()->spec);
case mjOBJ_FRAME:
return &(static_cast<mjCFrame*>(element)->GetParent()->spec);
return &(static_cast<const mjCFrame*>(element)->GetParent()->spec);
case mjOBJ_JOINT:
return &(static_cast<mjCJoint*>(element)->GetParent()->spec);
return &(static_cast<const mjCJoint*>(element)->GetParent()->spec);
case mjOBJ_GEOM:
return &(static_cast<mjCGeom*>(element)->GetParent()->spec);
return &(static_cast<const mjCGeom*>(element)->GetParent()->spec);
case mjOBJ_SITE:
return &(static_cast<mjCSite*>(element)->GetParent()->spec);
return &(static_cast<const mjCSite*>(element)->GetParent()->spec);
case mjOBJ_CAMERA:
return &(static_cast<mjCCamera*>(element)->GetParent()->spec);
return &(static_cast<const mjCCamera*>(element)->GetParent()->spec);
case mjOBJ_LIGHT:
return &(static_cast<mjCLight*>(element)->GetParent()->spec);
return &(static_cast<const mjCLight*>(element)->GetParent()->spec);
default:
return nullptr;
}
@@ -1423,8 +1418,8 @@ mjsBody* mjs_getParent(mjsElement* element) {
// get parent frame
mjsFrame* mjs_getFrame(mjsElement* element) {
mjCBase* base = static_cast<mjCBase*>(element);
mjsFrame* mjs_getFrame(const mjsElement* element) {
const mjCBase* base = static_cast<const mjCBase*>(element);
switch (element->elemtype) {
case mjOBJ_BODY:
case mjOBJ_FRAME:
@@ -1442,7 +1437,7 @@ mjsFrame* mjs_getFrame(mjsElement* element) {
// find frame by name
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
mjsFrame* mjs_findFrame(const mjSpec* s, const char* name) {
mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);
return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
}
@@ -1601,11 +1596,11 @@ int mjs_sensorDim(const mjsSensor* sensor) {
// get id
int mjs_getId(mjsElement* element) {
int mjs_getId(const mjsElement* element) {
if (!element) {
return -1;
}
return static_cast<mjCBase*>(element)->id;
return static_cast<const mjCBase*>(element)->id;
}
@@ -1619,8 +1614,8 @@ void mjs_setDefault(mjsElement* element, const mjsDefault* defspec) {
// return first child of selected type
mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse) {
mjCBody* bodyC = static_cast<mjCBody*>(body->element);
mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse) {
const mjCBody* bodyC = static_cast<const mjCBody*>(body->element);
try {
return bodyC->NextChild(NULL, type, recurse);
} catch (mjCError& e) {
@@ -1632,8 +1627,8 @@ mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse) {
// return body's next child; return NULL if child is last
mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse) {
mjCBody* bodyC = static_cast<mjCBody*>(body->element);
mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse) {
const mjCBody* bodyC = static_cast<const mjCBody*>(body->element);
try {
return bodyC->NextChild(child, child->elemtype, recurse);
} catch(mjCError& e) {
@@ -1645,23 +1640,23 @@ mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse) {
// return spec's first element of selected type
mjsElement* mjs_firstElement(mjSpec* s, mjtObj type) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type) {
const mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->NextObject(NULL, type);
}
// return spec's next element; return NULL if element is last
mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element) {
const mjCModel* modelC = static_cast<mjCModel*>(s->element);
return modelC->NextObject(element);
}
mjsElement* mjs_getWrapTarget(mjsWrap* wrap) {
mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
mjsElement* mjs_getWrapTarget(const mjsWrap* wrap) {
const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
mjtObj type = mjOBJ_UNKNOWN;
switch (cwrap->Type()) {
case mjWRAP_SPHERE:
@@ -1680,15 +1675,14 @@ mjsElement* mjs_getWrapTarget(mjsWrap* wrap) {
default:
return nullptr;
}
mjSpec* spec = mjs_getSpec(wrap->element);
mjsElement* target = mjs_findElement(spec, type, cwrap->name.c_str());
return target;
const mjSpec* spec = mjs_getSpec(wrap->element);
return mjs_findElement(spec, type, cwrap->name.c_str());
}
mjsSite* mjs_getWrapSideSite(mjsWrap* wrap) {
mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap) {
const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
// only sphere and cylinder (geoms) have side sites
if ((cwrap->Type() != mjWRAP_SPHERE &&
cwrap->Type() != mjWRAP_CYLINDER) ||
@@ -1696,7 +1690,7 @@ mjsSite* mjs_getWrapSideSite(mjsWrap* wrap) {
return nullptr;
}
mjSpec* spec = mjs_getSpec(wrap->element);
const mjSpec* spec = mjs_getSpec(wrap->element);
mjsElement* site = mjs_findElement(spec, mjOBJ_SITE, cwrap->sidesite.c_str());
if (site == nullptr) {
mju_warning("Could not find side site %s for wrap %s in spec",
@@ -1708,8 +1702,8 @@ mjsSite* mjs_getWrapSideSite(mjsWrap* wrap) {
double mjs_getWrapDivisor(mjsWrap* wrap) {
mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
double mjs_getWrapDivisor(const mjsWrap* wrap) {
const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
if (cwrap->Type() != mjWRAP_PULLEY) {
mju_warning("Querying divisor attribute of non-pulley wrap: %s", cwrap->name.c_str());
return 1.0;
@@ -1719,8 +1713,8 @@ double mjs_getWrapDivisor(mjsWrap* wrap) {
double mjs_getWrapCoef(mjsWrap* wrap) {
mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
double mjs_getWrapCoef(const mjsWrap* wrap) {
const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
if (cwrap->Type() != mjWRAP_JOINT) {
mju_warning("Querying coef attribute of non-joint wrap: %s", cwrap->name.c_str());
return 1.0;
src/user/user_api.h
+20 -20
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@@ -222,68 +222,68 @@ MJAPI int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, in
//---------------------------------- Find/get utilities --------------------------------------------
// Get spec from body.
MJAPI mjSpec* mjs_getSpec(mjsElement* element);
MJAPI mjSpec* mjs_getSpec(const mjsElement* element);
// Find spec (model asset) by name.
MJAPI mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
MJAPI mjSpec* mjs_findSpec(const mjSpec* spec, const char* name);
// Find body in spec by name.
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
MJAPI mjsBody* mjs_findBody(const mjSpec* s, const char* name);
// Find element in spec by name.
MJAPI mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
MJAPI mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name);
// Find child body by name.
MJAPI mjsBody* mjs_findChild(mjsBody* body, const char* name);
MJAPI mjsBody* mjs_findChild(const mjsBody* body, const char* name);
// Get parent body.
MJAPI mjsBody* mjs_getParent(mjsElement* element);
MJAPI mjsBody* mjs_getParent(const mjsElement* element);
// Get parent frame.
MJAPI mjsFrame* mjs_getFrame(mjsElement* element);
MJAPI mjsFrame* mjs_getFrame(const mjsElement* element);
// Find frame by name.
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
MJAPI mjsFrame* mjs_findFrame(const mjSpec* s, const char* name);
// Get default corresponding to an element.
MJAPI mjsDefault* mjs_getDefault(mjsElement* element);
MJAPI mjsDefault* mjs_getDefault(const mjsElement* element);
// Find default in model by class name.
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
MJAPI mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname);
// Get global default from model.
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
MJAPI mjsDefault* mjs_getSpecDefault(const mjSpec* s);
// Get element id.
MJAPI int mjs_getId(mjsElement* element);
MJAPI int mjs_getId(const mjsElement* element);
//---------------------------------- Tree traversal ------------------------------------------------
// Return body's first child of given type. If recurse is nonzero, also search the body's subtree.
MJAPI mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse);
MJAPI mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse);
// Return body's next child of the same type; return NULL if child is last.
// If recurse is nonzero, also search the body's subtree.
MJAPI mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse);
MJAPI mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse);
// Return spec's first element of selected type.
MJAPI mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
MJAPI mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type);
// Return spec's next element; return NULL if element is last.
MJAPI mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
MJAPI mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element);
// Get wrapped element in tendon path.
MJAPI mjsElement* mjs_getWrapTarget(mjsWrap* wrap);
MJAPI mjsElement* mjs_getWrapTarget(const mjsWrap* wrap);
// Get wrapped element in tendon path.
MJAPI mjsSite* mjs_getWrapSideSite(mjsWrap* wrap);
MJAPI mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap);
// Get divisor of mjsWrap wrapping a puller.
MJAPI double mjs_getWrapDivisor(mjsWrap* wrap);
MJAPI double mjs_getWrapDivisor(const mjsWrap* wrap);
// Get coefficient of mjsWrap wrapping a joint.
MJAPI double mjs_getWrapCoef(mjsWrap* wrap);
MJAPI double mjs_getWrapCoef(const mjsWrap* wrap);
// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
MJAPI mjsBody* mjs_asBody(mjsElement* element);
src/user/user_model.cc
+7 -7
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@@ -1408,7 +1408,7 @@ mjCBase* mjCModel::GetObject(mjtObj type, int id) {
template <class T>
static mjsElement* GetNext(std::vector<T*>& list, mjsElement* child) {
static mjsElement* GetNext(const std::vector<T*>& list, const mjsElement* child) {
if (!child) {
if (list.empty()) {
return nullptr;
@@ -1428,7 +1428,7 @@ static mjsElement* GetNext(std::vector<T*>& list, mjsElement* child) {
// next object of specified type
mjsElement* mjCModel::NextObject(mjsElement* object, mjtObj type) {
mjsElement* mjCModel::NextObject(const mjsElement* object, mjtObj type) const {
if (type == mjOBJ_UNKNOWN) {
if (!object) {
throw mjCError(nullptr, "type must be specified if no element is given");
@@ -1519,7 +1519,7 @@ mjCBody* mjCModel::GetWorld() {
// find default class name in array
mjCDef* mjCModel::FindDefault(string name) {
mjCDef* mjCModel::FindDefault(const string& name) const {
for (int i=0; i < (int)defaults_.size(); i++) {
if (defaults_[i]->name == name) {
return defaults_[i];
@@ -1697,13 +1697,13 @@ mjSpec* mjCModel::FindSpec(std::string name) const {
// find spec by mjsCompiler pointer
mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) {
mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
if (compiler_ == &spec.compiler) {
return &spec;
return &const_cast<mjCModel*>(this)->spec;
}
if (compiler2spec_.find(compiler_) != compiler2spec_.end()) {
return compiler2spec_[compiler_];
if (auto it = compiler2spec_.find(compiler_); it != compiler2spec_.end()) {
return it->second;
}
for (auto s : specs_) {
src/user/user_model.h
+3 -3
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@@ -242,19 +242,19 @@ class mjCModel : public mjCModel_, private mjSpec {
// API for access to model elements (outside tree)
int NumObjects(mjtObj type); // number of objects in specified list
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
mjsElement* NextObject(mjsElement* object, mjtObj type = mjOBJ_UNKNOWN); // next object of specified type
mjsElement* NextObject(const mjsElement* object, mjtObj type = mjOBJ_UNKNOWN) const; // next object of specified type
// API for access to other variables
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
void SetError(const mjCError& error) { errInfo = error; } // set value of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* FindDefault(const std::string& name) const; // find defaults class name
mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name); // find tree object given name
mjSpec* FindSpec(std::string name) const; // find spec given name
mjSpec* FindSpec(const mjsCompiler* compiler_); // find spec given mjsCompiler
mjSpec* FindSpec(const mjsCompiler* compiler_) const; // find spec given mjsCompiler
void ActivatePlugin(const mjpPlugin* plugin, int slot); // activate plugin
// find asset given name checking both name and filename
src/user/user_objects.cc
+4 -4
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@@ -2251,7 +2251,7 @@ mjCBase* mjCBody::GetObject(mjtObj type, int i) {
// find object by name in given list
template <class T>
static T* findobject(std::string name, std::vector<T*>& list) {
static T* findobject(const std::string& name, const std::vector<T*>& list) {
for (unsigned int i=0; i < list.size(); i++) {
if (list[i]->name == name) {
return list[i];
@@ -2264,12 +2264,12 @@ static T* findobject(std::string name, std::vector<T*>& list) {
// recursive find by name
mjCBase* mjCBody::FindObject(mjtObj type, std::string _name, bool recursive) {
mjCBase* mjCBody::FindObject(mjtObj type, const std::string& _name, bool recursive) const {
mjCBase* res = 0;
// check self: just in case
if (name == _name) {
return this;
return const_cast<mjCBody*>(this);
}
// search elements of this body
@@ -2406,7 +2406,7 @@ static mjsElement* GetNextBody(const mjCBody* body, const mjsElement* child,
// get next child of given type
mjsElement* mjCBody::NextChild(const mjsElement* child, mjtObj type, bool recursive) {
mjsElement* mjCBody::NextChild(const mjsElement* child, mjtObj type, bool recursive) const {
if (type == mjOBJ_UNKNOWN) {
if (!child) {
throw mjCError(this, "child type must be specified if no child element is given");
src/user/user_objects.h
+2 -2
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@@ -531,7 +531,7 @@ class mjCBody : public mjCBody_, private mjsBody {
// API for accessing objects
int NumObjects(mjtObj type);
mjCBase* GetObject(mjtObj type, int id);
mjCBase* FindObject(mjtObj type, std::string name, bool recursive = true);
mjCBase* FindObject(mjtObj type, const std::string& name, bool recursive = true) const;
// Propagate suffix and prefix to the whole tree
void NameSpace(const mjCModel* m);
@@ -556,7 +556,7 @@ class mjCBody : public mjCBody_, private mjsBody {
// returns nullptr if the next child is not found or if `child` is the last element, returns
// the next child after the input `child` otherwise
mjsElement* NextChild(const mjsElement* child, mjtObj type = mjOBJ_UNKNOWN,
bool recursive = false);
bool recursive = false) const;
// reset keyframe references for allowing self-attach
void ForgetKeyframes() const;