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Add mj_parseXML and mj_saveXML to xml_api.

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PiperOrigin-RevId: 640099466
Change-Id: I75f763523c5bc8f6f7c2f2de6806d82ba37ebd4e
This commit is contained in:
Alessio Quaglino
2024-06-04 11:59:32 +01:00
committed by Saran Tunyasuvunakool
parent 1bf90af0e0
commit b35ae973e1
11 changed files with 143 additions and 37 deletions
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test/user/user_api_test.cc
+8 -8
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@@ -25,7 +25,7 @@
#include <absl/strings/match.h>
#include <mujoco/mujoco.h>
#include "src/user/user_api.h"
#include "src/xml/xml.h"
#include "src/xml/xml_api.h"
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
@@ -125,7 +125,7 @@ TEST_F(PluginTest, RecompileCompare) {
// load spec
std::array<char, 1000> err;
mjSpec* s = mjParseXML(xml.c_str(), nullptr, err.data(), err.size());
mjSpec* s = mj_parseXML(xml.c_str(), 0, err.data(), err.size());
ASSERT_THAT(s, NotNull())
<< "Failed to load " << xml << ": " << err.data();
@@ -417,7 +417,7 @@ TEST_F(MujocoTest, AttachSame) {
</mujoco>)";
// create parent
mjSpec* parent = ParseSpecFromString(xml_child, er.data(), er.size());
mjSpec* parent = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// get frame
@@ -530,7 +530,7 @@ TEST_F(MujocoTest, AttachDifferent) {
</mujoco>)";
// model with one free sphere and a frame
mjSpec* parent = ParseSpecFromString(xml_parent, er.data(), er.size());
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// get frame
@@ -538,7 +538,7 @@ TEST_F(MujocoTest, AttachDifferent) {
EXPECT_THAT(frame, NotNull());
// model with one cylinder and a hinge
mjSpec* child = ParseSpecFromString(xml_child, er.data(), er.size());
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// get subtree
@@ -642,7 +642,7 @@ TEST_F(MujocoTest, AttachFrame) {
</mujoco>)";
// model with one free sphere and a frame
mjSpec* parent = ParseSpecFromString(xml_parent, er.data(), er.size());
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// get frame
@@ -650,7 +650,7 @@ TEST_F(MujocoTest, AttachFrame) {
EXPECT_THAT(body, NotNull());
// model with one cylinder and a hinge
mjSpec* child = ParseSpecFromString(xml_child, er.data(), er.size());
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// get subtree
@@ -711,7 +711,7 @@ void TestDetachBody(bool compile) {
</mujoco>)";
// model with one cylinder and a hinge
mjSpec* child = ParseSpecFromString(xml_child, er.data(), er.size());
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// compile model (for testing double compilation)