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Add tree element support to mjs_firstElement() and mjs_nextElement().

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PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
This commit is contained in:
Alessio Quaglino
2024-09-04 09:45:35 -07:00
committed by Copybara-Service
parent d3dfa6f970
commit ae4987026c
4 changed files with 79 additions and 24 deletions
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test/user/user_api_test.cc
+22 -10
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@@ -70,6 +70,7 @@ TEST_F(MujocoTest, TreeTraversal) {
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
mjsBody* body1 = mjs_addBody(body, 0);
mjsSite* site1 = mjs_addSite(body, 0);
mjsGeom* geom1 = mjs_addGeom(body, 0);
@@ -77,6 +78,7 @@ TEST_F(MujocoTest, TreeTraversal) {
mjsSite* site2 = mjs_addSite(body, 0);
mjsSite* site3 = mjs_addSite(body, 0);
mjsGeom* geom3 = mjs_addGeom(body, 0);
mjsSite* site4 = mjs_addSite(body1, 0);
mjs_setString(site1->name, "site1");
mjs_setString(geom1->name, "geom1");
@@ -84,30 +86,40 @@ TEST_F(MujocoTest, TreeTraversal) {
mjs_setString(site2->name, "site2");
mjs_setString(site3->name, "site3");
mjs_setString(geom3->name, "geom3");
mjs_setString(site4->name, "site4");
mjsElement* a_el1 = mjs_firstElement(spec, mjOBJ_ACTUATOR);
mjsElement* c_el1 = mjs_firstChild(body, mjOBJ_CAMERA);
mjsElement* t_el1 = mjs_firstChild(body, mjOBJ_TENDON);
mjsElement* a_el0 = mjs_firstElement(spec, mjOBJ_ACTUATOR);
mjsElement* l_el0 = mjs_firstElement(spec, mjOBJ_LIGHT);
mjsElement* c_el0 = mjs_firstChild(body, mjOBJ_CAMERA);
mjsElement* t_el0 = mjs_firstChild(body, mjOBJ_TENDON);
mjsElement* s_el1 = mjs_firstChild(body, mjOBJ_SITE);
mjsElement* s_el2 = mjs_nextChild(body, s_el1);
mjsElement* s_el3 = mjs_nextChild(body, s_el2);
mjsElement* s_el4 = mjs_nextChild(body, s_el3);
mjsElement* s_el0 = mjs_nextChild(body, s_el3);
mjsElement* s_el4 = mjs_firstChild(body1, mjOBJ_SITE);
mjsElement* g_el1 = mjs_firstChild(body, mjOBJ_GEOM);
mjsElement* g_el2 = mjs_nextChild(body, g_el1);
mjsElement* g_el3 = mjs_nextChild(body, g_el2);
mjsElement* g_el4 = mjs_nextChild(body, g_el3);
mjsElement* g_el0 = mjs_nextChild(body, g_el3);
EXPECT_EQ(a_el1, nullptr);
EXPECT_EQ(c_el1, nullptr);
EXPECT_EQ(t_el1, nullptr);
EXPECT_EQ(a_el0, nullptr);
EXPECT_EQ(l_el0, nullptr);
EXPECT_EQ(c_el0, nullptr);
EXPECT_EQ(t_el0, nullptr);
EXPECT_EQ(g_el0, nullptr);
EXPECT_EQ(s_el0, nullptr);
EXPECT_EQ(s_el1, site1->element);
EXPECT_EQ(s_el2, site2->element);
EXPECT_EQ(s_el3, site3->element);
EXPECT_EQ(s_el4, site4->element);
EXPECT_EQ(g_el1, geom1->element);
EXPECT_EQ(g_el2, geom2->element);
EXPECT_EQ(g_el3, geom3->element);
EXPECT_EQ(g_el4, nullptr);
EXPECT_EQ(s_el4, nullptr);
EXPECT_EQ(s_el1, mjs_firstElement(spec, mjOBJ_SITE));
EXPECT_EQ(s_el2, mjs_nextElement(spec, s_el1));
EXPECT_EQ(s_el3, mjs_nextElement(spec, s_el2));
EXPECT_EQ(s_el4, mjs_nextElement(spec, s_el3));
EXPECT_EQ(nullptr, mjs_nextElement(spec, s_el4));
EXPECT_EQ(mjs_findElement(spec, mjOBJ_SITE, "site1"), site1->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_SITE, "site2"), site2->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_SITE, "site3"), site3->element);