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Renamed Elasticity to Cable and libcable to libelasticity for consistency.

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PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
This commit is contained in:
Alessio Quaglino
2022-11-02 11:08:13 -07:00
committed by Copybara-Service
parent c83be2bc05
commit 9833f912c1
7 changed files with 25 additions and 24 deletions
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plugin/elasticity/cable.cc
+8 -8
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@@ -89,10 +89,10 @@ bool CheckAttr(const char* name, const mjModel* m, int instance) {
// factory function
std::optional<Elasticity> Elasticity::Create(
std::optional<Cable> Cable::Create(
const mjModel* m, mjData* d, int instance) {
if (CheckAttr("twist", m, instance) && CheckAttr("bend", m, instance)) {
return Elasticity(m, d, instance);
return Cable(m, d, instance);
} else {
mju_warning("Invalid parameter specification in cable plugin");
return std::nullopt;
@@ -100,7 +100,7 @@ std::optional<Elasticity> Elasticity::Create(
}
// plugin constructor
Elasticity::Elasticity(const mjModel* m, mjData* d, int instance) {
Cable::Cable(const mjModel* m, mjData* d, int instance) {
// parameters were validated by the factor function
std::string flat = mj_getPluginConfig(m, instance, "flat");
mjtNum G = strtod(mj_getPluginConfig(m, instance, "twist"), nullptr);
@@ -173,7 +173,7 @@ Elasticity::Elasticity(const mjModel* m, mjData* d, int instance) {
}
}
void Elasticity::Compute(const mjModel* m, mjData* d, int instance) {
void Cable::Compute(const mjModel* m, mjData* d, int instance) {
for (int b = 0; b < n; b++) {
// index into body array
int i = i0 + b;
@@ -234,20 +234,20 @@ mjPLUGIN_DYNAMIC_LIBRARY_INIT {
plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
plugin.init = +[](const mjModel* m, mjData* d, int instance) {
auto elasticity_or_null = Elasticity::Create(m, d, instance);
auto elasticity_or_null = Cable::Create(m, d, instance);
if (!elasticity_or_null.has_value()) {
return -1;
}
d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
new Elasticity(std::move(*elasticity_or_null)));
new Cable(std::move(*elasticity_or_null)));
return 0;
};
plugin.destroy = +[](mjData* d, int instance) {
delete reinterpret_cast<Elasticity*>(d->plugin_data[instance]);
delete reinterpret_cast<Cable*>(d->plugin_data[instance]);
d->plugin_data[instance] = 0;
};
plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
auto* elasticity = reinterpret_cast<Elasticity*>(d->plugin_data[instance]);
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};