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Add childclass support to frames.

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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
This commit is contained in:
Alessio Quaglino
2024-03-13 11:29:50 -07:00
committed by Copybara-Service
parent 0d16587135
commit bda03af49a
17 changed files with 195 additions and 46 deletions
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test/xml/xml_native_writer_test.cc
+33
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@@ -724,6 +724,39 @@ TEST_F(XMLWriterTest, WritesActuatorDefaults) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesFrameDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default class="dframe">
<geom size=".1"/>
</default>
<worldbody>
<frame name="f1" euler="0 0 30">
<geom size=".5" euler="0 0 20"/>
</frame>
<body>
<frame pos="0 1 0" name="f2" childclass="dframe">
<geom pos="0 1 0"/>
<body pos="1 0 0">
<geom pos="0 0 1"/>
</body>
</frame>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f1\""));
EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f2\" childclass=\"dframe\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("<frame>")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesDensity) {
static constexpr char xml[] = R"(
<mujoco>