chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Simplify mjs_addDefault.

Browse Source 
PiperOrigin-RevId: 646534046
Change-Id: I658224e4800849231e68ed02d8fad07b8d796231
This commit is contained in:
Alessio Quaglino
2024-06-25 10:50:55 -07:00
committed by Copybara-Service
parent 5e39fc0564
commit 6be4e0697e
11 changed files with 32 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.h
+9 -9
View File
@@ -205,15 +205,15 @@ class mjCModel : public mjCModel_, private mjSpec {
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
// API for access to other variables
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* AddDefault(std::string name, int parentid); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBody* FindBody(mjCBody* body, std::string name); // find body given name
mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat) const; // detect null pose
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // 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
mjCBody* FindBody(mjCBody* body, std::string name); // find body given name
mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat) const; // detect null pose
void SetActivePlugins(const std::vector<std::pair<const mjpPlugin*, int>>&& active_plugins) {
active_plugins_ = std::move(active_plugins);
}