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Add mjs_findElement() to find any element in a spec by name.

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Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
This commit is contained in:
Alessio Quaglino
2024-09-04 08:23:18 -07:00
committed by Copybara-Service
parent 0e8c0b80eb
commit d3dfa6f970
13 changed files with 149 additions and 156 deletions
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src/user/user_model.h
+9 -10
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@@ -223,16 +223,15 @@ class mjCModel : public mjCModel_, private mjSpec {
mjsElement* NextObject(mjsElement* object, mjtObj type = mjOBJ_UNKNOWN); // next object of specified type
// API for access to other variables
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
void SetError(const mjCError& error) { errInfo = error; } // set value of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBody* FindBody(mjCBody* body, std::string name); // find body given name
mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
mjSpec* FindSpec(std::string name) const; // find spec given name
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
void SetError(const mjCError& error) { errInfo = error; } // set value of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name); // find tree object given name
mjSpec* FindSpec(std::string name) const; // find spec given name
void SetActivePlugins(const std::vector<std::pair<const mjpPlugin*, int>>&& active_plugins) {
active_plugins_ = std::move(active_plugins);
}