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Add mjStatistic to mjmModel.

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PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
This commit is contained in:
Alessio Quaglino
2024-02-16 05:16:47 -08:00
committed by Copybara-Service
parent f1d4f8f0a1
commit d7c47de353
6 changed files with 55 additions and 52 deletions
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src/xml/xml_native_writer.cc
+6 -5
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@@ -975,12 +975,13 @@ void mjXWriter::Size(XMLElement* root) {
// statistic section
void mjXWriter::Statistic(XMLElement* root) {
XMLElement* section = InsertEnd(root, "statistic");
mjStatistic* s = &model->stat;
if (mjuu_defined(model->meaninertia)) WriteAttr(section, "meaninertia", 1, &model->meaninertia);
if (mjuu_defined(model->meanmass)) WriteAttr(section, "meanmass", 1, &model->meanmass);
if (mjuu_defined(model->meansize)) WriteAttr(section, "meansize", 1, &model->meansize);
if (mjuu_defined(model->extent)) WriteAttr(section, "extent", 1, &model->extent);
if (mjuu_defined(model->center[0])) WriteAttr(section, "center", 3, model->center);
if (mjuu_defined(s->meaninertia)) WriteAttr(section, "meaninertia", 1, &s->meaninertia);
if (mjuu_defined(s->meanmass)) WriteAttr(section, "meanmass", 1, &s->meanmass);
if (mjuu_defined(s->meansize)) WriteAttr(section, "meansize", 1, &s->meansize);
if (mjuu_defined(s->extent)) WriteAttr(section, "extent", 1, &s->extent);
if (mjuu_defined(s->center[0])) WriteAttr(section, "center", 3, s->center);
// remove entire section if no attributes
if (!section->FirstAttribute()) root->DeleteChild(section);