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

Add camera projection sensor.

Browse Source 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
This commit is contained in:
Alessio Quaglino
2023-09-12 08:15:14 -07:00
committed by Copybara-Service
parent ccda87aafa
commit 8064ad59c8
19 changed files with 369 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+7 -1
View File
@@ -408,6 +408,7 @@ void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) {
WriteAttr(elem, "ipd", 1, &pcam->ipd, &def->camera.ipd);
WriteAttr(elem, "fovy", 1, &pcam->fovy, &def->camera.fovy);
WriteAttrKey(elem, "mode", camlight_map, camlight_sz, pcam->mode, def->camera.mode);
WriteAttr(elem, "resolution", 2, pcam->resolution, def->camera.resolution);
// userdata
if (writingdefaults) {
@@ -1648,6 +1649,11 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "rangefinder");
WriteAttrTxt(elem, "site", psen->objname);
break;
case mjSENS_CAMPROJECTION:
elem = InsertEnd(section, "camprojection");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "camera", psen->refname);
break;
// sensors related to scalar joints, tendons, actuators
case mjSENS_JOINTPOS:
@@ -1836,7 +1842,7 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteVector(elem, "user", psen->userdata);
// add reference if present
if (psen->reftype != mjOBJ_UNKNOWN) {
if (psen->reftype != mjOBJ_UNKNOWN && psen->type != mjSENS_CAMPROJECTION) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->refname);
}