Make mjSpec related getter/find utilities take const parameters.
PiperOrigin-RevId: 910848529 Change-Id: I1c966a6299fe47317cbf0bfb8f8b835cbcd4ed65
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
d249c882d5
commit
579a27e9d2
+53
-59
@@ -1302,61 +1302,56 @@ const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double
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// get spec from body
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mjSpec* mjs_getSpec(mjsElement* element) {
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return &(static_cast<mjCBase*>(element)->model->spec);
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mjSpec* mjs_getSpec(const mjsElement* element) {
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return &(static_cast<const mjCBase*>(element)->model->spec);
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}
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mjsCompiler* mjs_getCompiler(mjsElement* element) {
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return static_cast<mjCBase*>(element)->compiler;
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mjsCompiler* mjs_getCompiler(const mjsElement* element) {
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return static_cast<const mjCBase*>(element)->compiler;
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}
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// find spec (model asset) by name
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mjSpec* mjs_findSpec(mjSpec* s, const char* name) {
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mjCModel* model = static_cast<mjCModel*>(s->element);
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mjSpec* mjs_findSpec(const mjSpec* s, const char* name) {
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const mjCModel* model = static_cast<mjCModel*>(s->element);
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return model->FindSpec(name);
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}
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// get default
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mjsDefault* mjs_getDefault(mjsElement* element) {
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mjCModel* model = static_cast<mjCBase*>(element)->model;
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std::string classname = static_cast<mjCBase*>(element)->classname;
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return &(model->def_map[classname]->spec);
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mjsDefault* mjs_getDefault(const mjsElement* element) {
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const mjCModel* model = static_cast<const mjCBase*>(element)->model;
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std::string classname = static_cast<const mjCBase*>(element)->classname;
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auto it = model->def_map.find(classname);
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return (it != model->def_map.end()) ? &it->second->spec : nullptr;
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}
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// Find default with given name in model.
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mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
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mjCModel* modelC = static_cast<mjCModel*>(s->element);
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mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname) {
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const mjCModel* modelC = static_cast<mjCModel*>(s->element);
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mjCDef* cdef = modelC->FindDefault(classname);
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if (!cdef) {
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return nullptr;
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}
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return &cdef->spec;
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return cdef ? &cdef->spec : nullptr;
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}
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// get default[0] from model
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mjsDefault* mjs_getSpecDefault(mjSpec* s) {
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mjCModel* modelC = static_cast<mjCModel*>(s->element);
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mjsDefault* mjs_getSpecDefault(const mjSpec* s) {
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const mjCModel* modelC = static_cast<mjCModel*>(s->element);
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mjCDef* def = modelC->Default();
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if (!def) {
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return nullptr;
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}
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return &def->spec;
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return def ? &def->spec : nullptr;
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}
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// find body in model by name
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mjsBody* mjs_findBody(mjSpec* s, const char* name) {
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mjsBody* mjs_findBody(const mjSpec* s, const char* name) {
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mjsElement* body = mjs_findElement(s, mjOBJ_BODY, name);
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return body ? &(static_cast<mjCBody*>(body)->spec) : nullptr;
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}
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@@ -1364,7 +1359,7 @@ mjsBody* mjs_findBody(mjSpec* s, const char* name) {
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// find element in spec by name
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mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
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mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name) {
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mjCModel* model = static_cast<mjCModel*>(s->element);
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if (model->IsCompiled() && type != mjOBJ_FRAME) {
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return model->FindObject(type, std::string(name)); // fast lookup
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@@ -1390,8 +1385,8 @@ mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
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// find child of a body by name
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mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
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mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
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mjsBody* mjs_findChild(const mjsBody* bodyspec, const char* name) {
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const mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
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mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
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return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr;
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}
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@@ -1399,22 +1394,22 @@ mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
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// get parent body
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mjsBody* mjs_getParent(mjsElement* element) {
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mjsBody* mjs_getParent(const mjsElement* element) {
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switch (element->elemtype) {
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case mjOBJ_BODY:
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return &(static_cast<mjCBody*>(element)->GetParent()->spec);
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return &(static_cast<const mjCBody*>(element)->GetParent()->spec);
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case mjOBJ_FRAME:
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return &(static_cast<mjCFrame*>(element)->GetParent()->spec);
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return &(static_cast<const mjCFrame*>(element)->GetParent()->spec);
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case mjOBJ_JOINT:
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return &(static_cast<mjCJoint*>(element)->GetParent()->spec);
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return &(static_cast<const mjCJoint*>(element)->GetParent()->spec);
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case mjOBJ_GEOM:
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return &(static_cast<mjCGeom*>(element)->GetParent()->spec);
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return &(static_cast<const mjCGeom*>(element)->GetParent()->spec);
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case mjOBJ_SITE:
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return &(static_cast<mjCSite*>(element)->GetParent()->spec);
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return &(static_cast<const mjCSite*>(element)->GetParent()->spec);
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case mjOBJ_CAMERA:
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return &(static_cast<mjCCamera*>(element)->GetParent()->spec);
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return &(static_cast<const mjCCamera*>(element)->GetParent()->spec);
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case mjOBJ_LIGHT:
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return &(static_cast<mjCLight*>(element)->GetParent()->spec);
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return &(static_cast<const mjCLight*>(element)->GetParent()->spec);
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default:
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return nullptr;
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}
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@@ -1423,8 +1418,8 @@ mjsBody* mjs_getParent(mjsElement* element) {
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// get parent frame
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mjsFrame* mjs_getFrame(mjsElement* element) {
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mjCBase* base = static_cast<mjCBase*>(element);
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mjsFrame* mjs_getFrame(const mjsElement* element) {
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const mjCBase* base = static_cast<const mjCBase*>(element);
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switch (element->elemtype) {
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case mjOBJ_BODY:
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case mjOBJ_FRAME:
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@@ -1442,7 +1437,7 @@ mjsFrame* mjs_getFrame(mjsElement* element) {
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// find frame by name
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mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
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mjsFrame* mjs_findFrame(const mjSpec* s, const char* name) {
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mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);
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return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
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}
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@@ -1601,11 +1596,11 @@ int mjs_sensorDim(const mjsSensor* sensor) {
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// get id
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int mjs_getId(mjsElement* element) {
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int mjs_getId(const mjsElement* element) {
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if (!element) {
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return -1;
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}
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return static_cast<mjCBase*>(element)->id;
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return static_cast<const mjCBase*>(element)->id;
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}
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@@ -1619,8 +1614,8 @@ void mjs_setDefault(mjsElement* element, const mjsDefault* defspec) {
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// return first child of selected type
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mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse) {
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mjCBody* bodyC = static_cast<mjCBody*>(body->element);
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mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse) {
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const mjCBody* bodyC = static_cast<const mjCBody*>(body->element);
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try {
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return bodyC->NextChild(NULL, type, recurse);
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} catch (mjCError& e) {
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@@ -1632,8 +1627,8 @@ mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse) {
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// return body's next child; return NULL if child is last
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mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse) {
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mjCBody* bodyC = static_cast<mjCBody*>(body->element);
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mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse) {
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const mjCBody* bodyC = static_cast<const mjCBody*>(body->element);
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try {
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return bodyC->NextChild(child, child->elemtype, recurse);
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} catch(mjCError& e) {
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@@ -1645,23 +1640,23 @@ mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse) {
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// return spec's first element of selected type
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mjsElement* mjs_firstElement(mjSpec* s, mjtObj type) {
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mjCModel* modelC = static_cast<mjCModel*>(s->element);
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mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type) {
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const mjCModel* modelC = static_cast<mjCModel*>(s->element);
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return modelC->NextObject(NULL, type);
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}
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// return spec's next element; return NULL if element is last
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mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element) {
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mjCModel* modelC = static_cast<mjCModel*>(s->element);
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mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element) {
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const mjCModel* modelC = static_cast<mjCModel*>(s->element);
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return modelC->NextObject(element);
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}
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mjsElement* mjs_getWrapTarget(mjsWrap* wrap) {
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mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
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mjsElement* mjs_getWrapTarget(const mjsWrap* wrap) {
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const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
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mjtObj type = mjOBJ_UNKNOWN;
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switch (cwrap->Type()) {
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case mjWRAP_SPHERE:
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@@ -1680,15 +1675,14 @@ mjsElement* mjs_getWrapTarget(mjsWrap* wrap) {
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default:
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return nullptr;
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}
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mjSpec* spec = mjs_getSpec(wrap->element);
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mjsElement* target = mjs_findElement(spec, type, cwrap->name.c_str());
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return target;
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const mjSpec* spec = mjs_getSpec(wrap->element);
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return mjs_findElement(spec, type, cwrap->name.c_str());
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}
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mjsSite* mjs_getWrapSideSite(mjsWrap* wrap) {
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mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
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mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap) {
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const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
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// only sphere and cylinder (geoms) have side sites
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if ((cwrap->Type() != mjWRAP_SPHERE &&
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cwrap->Type() != mjWRAP_CYLINDER) ||
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@@ -1696,7 +1690,7 @@ mjsSite* mjs_getWrapSideSite(mjsWrap* wrap) {
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return nullptr;
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}
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mjSpec* spec = mjs_getSpec(wrap->element);
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const mjSpec* spec = mjs_getSpec(wrap->element);
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mjsElement* site = mjs_findElement(spec, mjOBJ_SITE, cwrap->sidesite.c_str());
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if (site == nullptr) {
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mju_warning("Could not find side site %s for wrap %s in spec",
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@@ -1708,8 +1702,8 @@ mjsSite* mjs_getWrapSideSite(mjsWrap* wrap) {
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double mjs_getWrapDivisor(mjsWrap* wrap) {
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mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
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double mjs_getWrapDivisor(const mjsWrap* wrap) {
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const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
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if (cwrap->Type() != mjWRAP_PULLEY) {
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mju_warning("Querying divisor attribute of non-pulley wrap: %s", cwrap->name.c_str());
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return 1.0;
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@@ -1719,8 +1713,8 @@ double mjs_getWrapDivisor(mjsWrap* wrap) {
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double mjs_getWrapCoef(mjsWrap* wrap) {
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mjCWrap* cwrap = static_cast<mjCWrap*>(wrap->element);
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double mjs_getWrapCoef(const mjsWrap* wrap) {
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const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
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if (cwrap->Type() != mjWRAP_JOINT) {
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mju_warning("Querying coef attribute of non-joint wrap: %s", cwrap->name.c_str());
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return 1.0;
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