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Clean up formatting issues in user_objects.h

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PiperOrigin-RevId: 599127766
Change-Id: If752c00038818fb21476eb98be891ead467aad56
This commit is contained in:
Kyle Bayes
2024-01-17 04:20:24 -08:00
committed by Copybara-Service
parent a02fc405af
commit 71b0561758
1 changed files with 63 additions and 57 deletions
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src/user/user_objects.h
+63 -57
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@@ -16,12 +16,17 @@
#define MUJOCO_SRC_USER_USER_OBJECTS_H_ #define MUJOCO_SRC_USER_USER_OBJECTS_H_
#include <array> #include <array>
#include <functional>
#include <map> #include <map>
#include <optional> #include <optional>
#include <string> #include <string>
#include <string_view>
#include <utility>
#include <vector> #include <vector>
#include "lodepng.h" #include "lodepng.h"
#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
@@ -331,37 +336,38 @@ class mjCJoint : public mjCBase {
public: public:
// variables set by user: joint properties // variables set by user: joint properties
mjtJoint type; // type of Joint mjtJoint type; // type of Joint
int group; // used for rendering int group; // used for rendering
int limited; // does joint have limits: 0 false, 1 true, 2 auto int limited; // does joint have limits: 0 false, 1 true, 2 auto
int actfrclimited; // are actuator forces on joints limited: 0 false, 1 true, 2 auto int actfrclimited; // are actuator forces on joints limited: 0 false, 1 true, 2 auto
double pos[3]; // anchor position double pos[3]; // anchor position
double axis[3]; // joint axis double axis[3]; // joint axis
double stiffness; // stiffness coefficient double stiffness; // stiffness coefficient
double springdamper[2]; // timeconst, dampratio double springdamper[2]; // timeconst, dampratio
double range[2]; // joint limits double range[2]; // joint limits
double actfrcrange[2]; // actuator force limits double actfrcrange[2]; // actuator force limits
mjtNum solref_limit[mjNREF]; // solver reference: joint limits mjtNum solref_limit[mjNREF]; // solver reference: joint limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
mjtNum solref_friction[mjNREF]; // solver reference: dof friction mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
double margin; // margin value for joint limit detection double margin; // margin value for joint limit detection
double ref; // value at reference configuration: qpos0 double ref; // value at reference configuration: qpos0
double springref; // spring reference value: qpos_spring double springref; // spring reference value: qpos_spring
std::vector<double> userdata; // user data std::vector<double> userdata; // user data
// variables set by user: dof properties // variables set by user: dof properties
double armature; // armature inertia (mass for slider) double armature; // armature inertia (mass for slider)
double damping; // damping coefficient double damping; // damping coefficient
double frictionloss; // friction loss double frictionloss; // friction loss
double urdfeffort; // store effort field from urdf double urdfeffort; // store effort field from urdf
private: private:
mjCJoint(mjCModel* = 0, mjCDef* = 0);// constructor mjCJoint(mjCModel* = 0, mjCDef* = 0);
int Compile(void); // compiler; return dofnum
mjCBody* body; // joint's body int Compile(void); // compiler; return dofnum
mjCBody* body; // joint's body
}; };
@@ -429,19 +435,19 @@ class mjCGeom : public mjCBase {
double quat[4]; // orientation double quat[4]; // orientation
private: private:
mjCGeom(mjCModel* = 0, mjCDef* = 0);// constructor mjCGeom(mjCModel* = 0, mjCDef* = 0);
void Compile(void); // compiler void Compile(void); // compiler
double GetRBound(void); // compute bounding sphere radius double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box void ComputeAABB(void); // compute axis-aligned bounding box
bool visual_; // true: geom does not collide and is unreferenced bool visual_; // true: geom does not collide and is unreferenced
int matid; // id of geom's material int matid; // id of geom's material
mjCMesh* mesh; // geom's mesh mjCMesh* mesh; // geom's mesh
mjCHField* hfield; // geom's hfield mjCHField* hfield; // geom's hfield
double mass; // mass double mass; // mass
double inertia[3]; // local diagonal inertia double inertia[3]; // local diagonal inertia
double aabb[6]; // axis-aligned bounding box (center, size) double aabb[6]; // axis-aligned bounding box (center, size)
mjCBody* body; // geom's body mjCBody* body; // geom's body
}; };
@@ -598,24 +604,24 @@ class mjCFlex: public mjCBase {
void DelTexcoord(); // delete texcoord void DelTexcoord(); // delete texcoord
private: private:
mjCFlex(mjCModel* = 0); // constructor mjCFlex(mjCModel* = 0);
void Compile(const mjVFS* vfs); // compiler void Compile(const mjVFS* vfs); // compiler
void CreateBVH(void); // create flex BVH void CreateBVH(void); // create flex BVH
void CreateShellPair(void); // create shells and evpairs void CreateShellPair(void); // create shells and evpairs
int nvert; // number of verices int nvert; // number of verices
int nedge; // number of edges int nedge; // number of edges
int nelem; // number of elements int nelem; // number of elements
int matid; // material id int matid; // material id
bool rigid; // all vertices attached to the same body bool rigid; // all vertices attached to the same body
bool centered; // all vertices coordinates (0,0,0) bool centered; // all vertices coordinates (0,0,0)
std::vector<int> vertbodyid; // vertex body ids std::vector<int> vertbodyid; // vertex body ids
std::vector<std::pair<int,int>> edge; // edge vertex ids std::vector<std::pair<int, int>> edge; // edge vertex ids
std::vector<int> shell; // shell fragment vertex ids (dim per fragment) std::vector<int> shell; // shell fragment vertex ids (dim per fragment)
std::vector<int> elemlayer; // element layer (distance from border) std::vector<int> elemlayer; // element layer (distance from border)
std::vector<int> evpair; // element-vertex pairs std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions std::vector<mjtNum> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
}; };
@@ -624,7 +630,7 @@ class mjCFlex: public mjCBase {
// Describes a mesh // Describes a mesh
class mjCMesh: public mjCBase { class mjCMesh: public mjCBase {
friend class mjCFlexcomp; friend class mjCFlexcomp;
public: public:
mjCMesh(mjCModel* = 0, mjCDef* = 0); mjCMesh(mjCModel* = 0, mjCDef* = 0);
~mjCMesh(); ~mjCMesh();
@@ -644,7 +650,7 @@ class mjCMesh: public mjCBase {
const std::vector<float>& usertexcoord() const { return usertexcoord_; } const std::vector<float>& usertexcoord() const { return usertexcoord_; }
const std::vector<int>& userface() const { return userface_; } const std::vector<int>& userface() const { return userface_; }
// mesh properites computed by Compile // mesh properties computed by Compile
const double* aamm() const { return aamm_; } const double* aamm() const { return aamm_; }
// number of vertices, normals, texture coordinates, and faces // number of vertices, normals, texture coordinates, and faces
@@ -892,11 +898,11 @@ class mjCTexture : public mjCBase {
void Builtin2D(void); // make builtin 2D void Builtin2D(void); // make builtin 2D
void BuiltinCube(void); // make builtin cube void BuiltinCube(void); // make builtin cube
void Load2D(std::string filename, const mjVFS* vfs); // load 2D from file void Load2D(std::string filename, const mjVFS* vfs); // load 2D from file
void LoadCubeSingle(std::string filename, const mjVFS* vfs); // load cube from single file void LoadCubeSingle(std::string filename, const mjVFS* vfs); // load cube from single file
void LoadCubeSeparate(const mjVFS* vfs); // load cube from separate files void LoadCubeSeparate(const mjVFS* vfs); // load cube from separate files
void LoadFlip(std::string filename, const mjVFS* vfs, // load and flip void LoadFlip(std::string filename, const mjVFS* vfs, // load and flip
std::vector<unsigned char>& image, std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h); unsigned int& w, unsigned int& h);