Add mj_parseXML and mj_saveXML to xml_api.

PiperOrigin-RevId: 640099466 Change-Id: I75f763523c5bc8f6f7c2f2de6806d82ba37ebd4e
2024-06-04 11:59:32 +01:00
parent 1bf90af0e0
commit b35ae973e1
11 changed files with 143 additions and 37 deletions
@@ -17,6 +17,7 @@

 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
+#include "user/user_api.h"

 #ifdef __cplusplus
 extern "C" {
@@ -43,6 +44,14 @@ MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
 // if vfs is not NULL, look up file in vfs before reading from disk
 MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);

+// parse spec from file or XML string.
+MJAPI mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
+MJAPI mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
+
+// Save spec to XML file and/or string, return 1 on success, 0 otherwise.
+MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
+MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
+
 #ifdef __cplusplus
 }
 #endif