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Refactor mjXUtil::WriteAttr using templates.

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PiperOrigin-RevId: 453848941
Change-Id: I1f87f0c20f0c89caab89ea4891aee7583a92534e
This commit is contained in:
Alessio Quaglino
2022-06-08 23:33:04 -07:00
committed by Copybara-Service
parent 066367fcc8
commit c7c765b6eb
4 changed files with 58 additions and 183 deletions
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src/xml/xml_util.h
+6 -17
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@@ -89,8 +89,8 @@ class mjXUtil {
virtual ~mjXUtil() = default;
// compare two vectors
static bool SameVector(const double* vec1, const double* vec2, int n);
static bool SameVector(const float* vec1, const float* vec2, int n);
template<typename T>
static bool SameVector(const T* vec1, const T* vec2, int n);
// find key in map, return value (-1: not found)
static int FindKey(const mjMap* map, int mapsz, std::string key);
@@ -136,21 +136,10 @@ class mjXUtil {
static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, int* data,
const mjMap* map, int mapSz, bool required = false);
// write attribute- double
static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, double* data,
const double* def = 0);
// write attribute- float
static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, float* data,
const float* def = 0);
// write attribute- byte
static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, mjtByte* data,
const mjtByte* def = 0);
// write attribute- int
static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, int* data,
const int* def = 0);
// write attribute- any type
template<typename T>
static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, T* data,
const T* def = 0);
// write vector<double> attribute, with and without default
static void WriteVector(tinyxml2::XMLElement* elem, std::string name, std::vector<double>& vec);