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Allow partial specification of polycoef attribute of equality constraints.

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- Usually the user only wants to tweak `polycoef[1]`, after this change `"0 2"` is equivalent to `"0 2 0 0 0"`.
- Also improve documentation of this attribute.
- Tighten margins of documentation display equations.

PiperOrigin-RevId: 639720742
Change-Id: Ibafa0e093cebe1c1c75bf2e47ff3bd2ad7619414
This commit is contained in:
Yuval Tassa
2024-06-03 03:41:58 -07:00
committed by Copybara-Service
parent 14a3ce5ffa
commit 8fa0fea02d
4 changed files with 58 additions and 8 deletions
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test/xml/xml_native_reader_test.cc
+41 -1
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@@ -34,8 +34,13 @@
namespace mujoco {
namespace {
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
return std::vector<mjtNum>(array, array + n);
}
using ::std::string;
using ::testing::AllOf;
using ::testing::ElementsAre;
using ::testing::Eq;
using ::testing::FloatEq;
using ::testing::HasSubstr;
@@ -834,8 +839,43 @@ TEST_F(XMLReaderTest, IncludeAbsoluteTest) {
mj_deleteModel(model);
}
// ------------------------ test frame parsing ---------------------------------
TEST_F(XMLReaderTest, ParsePolycoef) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="0"/>
<geom size="1"/>
</body>
<body>
<joint name="1"/>
<geom size="1"/>
</body>
</worldbody>
<equality>
<joint joint1="0" joint2="1"/>
<joint joint1="0" joint2="1" polycoef="2"/>
<joint joint1="0" joint2="1" polycoef="3 4"/>
<joint joint1="0" joint2="1" polycoef="5 6 7 8 9"/>
</equality>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_THAT(AsVector(m->eq_data + 0*mjNEQDATA, 5),
ElementsAre(0, 1, 0, 0, 0));
EXPECT_THAT(AsVector(m->eq_data + 1*mjNEQDATA, 5),
ElementsAre(2, 1, 0, 0, 0));
EXPECT_THAT(AsVector(m->eq_data + 2*mjNEQDATA, 5),
ElementsAre(3, 4, 0, 0, 0));
EXPECT_THAT(AsVector(m->eq_data + 3*mjNEQDATA, 5),
ElementsAre(5, 6, 7, 8, 9));
mj_deleteModel(m);
}
// ------------------------ test frame parsing ---------------------------------
TEST_F(XMLReaderTest, ParseFrame) {
static constexpr char xml[] = R"(
<mujoco>