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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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src/user/user_objects.h
+4 -4
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@@ -26,7 +26,7 @@
#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
#include "user/user_api.h"
#include <mujoco/mjspec.h>
#include "user/user_cache.h"
#include "user/user_util.h"
@@ -168,7 +168,7 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
//------------------------- class mjCBase ----------------------------------------------------------
// Generic functionality for all derived classes
class mjCBase_ : public mjElement {
class mjCBase_ : public mjsElement {
public:
int id; // object id
std::string name; // object name
@@ -309,7 +309,7 @@ class mjCBody : public mjCBody_, private mjsBody {
const std::vector<double>& get_userdata() { return userdata_; }
// get next child of given type
mjElement* NextChild(mjElement* child, mjtObj type = mjOBJ_UNKNOWN);
mjsElement* NextChild(mjsElement* child, mjtObj type = mjOBJ_UNKNOWN);
private:
mjCBody(const mjCBody& other, mjCModel* _model); // copy constructor
@@ -1624,7 +1624,7 @@ class mjCKey : public mjCKey_, private mjsKey {
//------------------------- class mjCDef -----------------------------------------------------------
// Describes one set of defaults
class mjCDef : public mjElement {
class mjCDef : public mjsElement {
friend class mjXWriter;
public: