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Add contact sensor.

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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
This commit is contained in:
Yuval Tassa
2025-07-14 13:01:55 -07:00
committed by Copybara-Service
parent e441868dad
commit d0e4771c8c
25 changed files with 1343 additions and 47 deletions
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src/xml/xml_util.h
+8
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@@ -183,6 +183,10 @@ class mjXUtil {
static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, int* data,
const mjMap* map, int mapSz, bool required = false);
// find attribute, translate unique space-separated keys to data, return number of keys found
static int MapValues(tinyxml2::XMLElement* elem, const char* attr, int* data,
const mjMap* map, int mapSz, bool required = false);
// write attribute- any type
template<typename T>
static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, const T* data,
@@ -204,6 +208,10 @@ class mjXUtil {
static void WriteAttrKey(tinyxml2::XMLElement* elem, std::string name,
const mjMap* map, int mapsz, int data, int def = -12345);
// write attribute- space-separated keywords
static void WriteAttrKeys(XMLElement* elem, std::string name, const mjMap* map,
int mapsz, int* data, int ndata, int def = -12345);
private:
template<typename T>
static bool ReadAttrValues(tinyxml2::XMLElement* elem, const char* attr,