Rename variables to avoid shadowing in xml_native_reader.cc
PiperOrigin-RevId: 780135233 Change-Id: I509ac6a0807e102ad8749f81562ad45bf4c04335
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
783e6499d8
commit
e01c4b454a
@@ -985,25 +985,25 @@ void mjXReader::Parse(XMLElement* root, const mjVFS* vfs) {
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// compiler section parser
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void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
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void mjXReader::Compiler(XMLElement* section, mjSpec* s) {
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string text;
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int n;
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// top-level attributes
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if (MapValue(section, "autolimits", &n, bool_map, 2)) {
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spec->compiler.autolimits = (n == 1);
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s->compiler.autolimits = (n == 1);
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}
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ReadAttr(section, "boundmass", 1, &spec->compiler.boundmass, text);
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ReadAttr(section, "boundinertia", 1, &spec->compiler.boundinertia, text);
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ReadAttr(section, "settotalmass", 1, &spec->compiler.settotalmass, text);
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ReadAttr(section, "boundmass", 1, &s->compiler.boundmass, text);
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ReadAttr(section, "boundinertia", 1, &s->compiler.boundinertia, text);
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ReadAttr(section, "settotalmass", 1, &s->compiler.settotalmass, text);
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if (MapValue(section, "balanceinertia", &n, bool_map, 2)) {
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spec->compiler.balanceinertia = (n == 1);
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s->compiler.balanceinertia = (n == 1);
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}
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if (MapValue(section, "strippath", &n, bool_map, 2)) {
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spec->strippath = (n == 1);
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s->strippath = (n == 1);
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}
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if (MapValue(section, "fitaabb", &n, bool_map, 2)) {
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spec->compiler.fitaabb = (n == 1);
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s->compiler.fitaabb = (n == 1);
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}
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if (MapValue(section, "coordinate", &n, coordinate_map, 2)) {
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if (n == 1) {
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@@ -1012,48 +1012,48 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
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}
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}
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if (MapValue(section, "angle", &n, angle_map, 2)) {
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spec->compiler.degree = (n == 1);
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s->compiler.degree = (n == 1);
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}
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if (ReadAttrTxt(section, "eulerseq", text)) {
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if (text.size() != 3) {
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throw mjXError(section, "euler format must have length 3");
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}
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memcpy(spec->compiler.eulerseq, text.c_str(), 3);
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memcpy(s->compiler.eulerseq, text.c_str(), 3);
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}
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if (ReadAttrTxt(section, "assetdir", text)) {
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mjs_setString(spec->meshdir, text.c_str());
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mjs_setString(spec->texturedir, text.c_str());
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mjs_setString(s->meshdir, text.c_str());
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mjs_setString(s->texturedir, text.c_str());
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}
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// meshdir and texturedir take precedence over assetdir
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string meshdir, texturedir;
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if (ReadAttrTxt(section, "meshdir", meshdir)) {
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mjs_setString(spec->meshdir, meshdir.c_str());
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mjs_setString(s->meshdir, meshdir.c_str());
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};
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if (ReadAttrTxt(section, "texturedir", texturedir)) {
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mjs_setString(spec->texturedir, texturedir.c_str());
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mjs_setString(s->texturedir, texturedir.c_str());
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}
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if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
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spec->compiler.discardvisual = (n == 1);
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s->compiler.discardvisual = (n == 1);
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}
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if (MapValue(section, "usethread", &n, bool_map, 2)) {
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spec->compiler.usethread = (n == 1);
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s->compiler.usethread = (n == 1);
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}
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if (MapValue(section, "fusestatic", &n, bool_map, 2)) {
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spec->compiler.fusestatic = (n == 1);
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s->compiler.fusestatic = (n == 1);
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}
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MapValue(section, "inertiafromgeom", &spec->compiler.inertiafromgeom, TFAuto_map, 3);
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ReadAttr(section, "inertiagrouprange", 2, spec->compiler.inertiagrouprange, text);
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MapValue(section, "inertiafromgeom", &s->compiler.inertiafromgeom, TFAuto_map, 3);
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ReadAttr(section, "inertiagrouprange", 2, s->compiler.inertiagrouprange, text);
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if (MapValue(section, "alignfree", &n, bool_map, 2)) {
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spec->compiler.alignfree = (n == 1);
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s->compiler.alignfree = (n == 1);
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}
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if (MapValue(section, "saveinertial", &n, bool_map, 2)) {
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spec->compiler.saveinertial = (n == 1);
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s->compiler.saveinertial = (n == 1);
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}
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// lengthrange subelement
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XMLElement* elem = FindSubElem(section, "lengthrange");
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if (elem) {
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mjLROpt* opt = &(spec->compiler.LRopt);
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mjLROpt* opt = &(s->compiler.LRopt);
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// flags
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MapValue(elem, "mode", &opt->mode, lrmode_map, lrmode_sz);
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@@ -1173,7 +1173,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
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// size section parser
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void mjXReader::Size(XMLElement* section, mjSpec* spec) {
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void mjXReader::Size(XMLElement* section, mjSpec* s) {
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// read memory bytes
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{
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constexpr char err_msg[] =
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@@ -1262,69 +1262,69 @@ void mjXReader::Size(XMLElement* section, mjSpec* spec) {
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if (*memory / sizeof(mjtNum) > std::numeric_limits<std::size_t>::max()) {
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throw mjXError(section, "%s", err_msg);
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}
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spec->memory = *memory;
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s->memory = *memory;
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}
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}
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// read sizes
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ReadAttrInt(section, "nuserdata", &spec->nuserdata);
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ReadAttrInt(section, "nkey", &spec->nkey);
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ReadAttrInt(section, "nuserdata", &s->nuserdata);
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ReadAttrInt(section, "nkey", &s->nkey);
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ReadAttrInt(section, "nconmax", &spec->nconmax);
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if (spec->nconmax < -1) throw mjXError(section, "nconmax must be >= -1");
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ReadAttrInt(section, "nconmax", &s->nconmax);
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if (s->nconmax < -1) throw mjXError(section, "nconmax must be >= -1");
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{
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int nstack = -1;
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const bool has_nstack = ReadAttrInt(section, "nstack", &nstack);
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if (has_nstack) {
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if (spec->nstack < -1) {
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if (s->nstack < -1) {
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throw mjXError(section, "nstack must be >= -1");
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}
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if (spec->memory != -1 && nstack != -1) {
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if (s->memory != -1 && nstack != -1) {
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throw mjXError(section,
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"either 'memory' and 'nstack' attribute can be specified, not both");
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}
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spec->nstack = nstack;
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s->nstack = nstack;
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}
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}
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{
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int njmax = -1;
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const bool has_njmax = ReadAttrInt(section, "njmax", &njmax);
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if (has_njmax) {
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if (spec->njmax < -1) {
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if (s->njmax < -1) {
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throw mjXError(section, "njmax must be >= -1");
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}
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if (spec->memory != -1 && njmax != -1) {
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if (s->memory != -1 && njmax != -1) {
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throw mjXError(section,
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"either 'memory' and 'njmax' attribute can be specified, not both");
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}
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spec->njmax = njmax;
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s->njmax = njmax;
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}
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}
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ReadAttrInt(section, "nuser_body", &spec->nuser_body);
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if (spec->nuser_body < -1) throw mjXError(section, "nuser_body must be >= -1");
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ReadAttrInt(section, "nuser_body", &s->nuser_body);
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if (s->nuser_body < -1) throw mjXError(section, "nuser_body must be >= -1");
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ReadAttrInt(section, "nuser_jnt", &spec->nuser_jnt);
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if (spec->nuser_jnt < -1) throw mjXError(section, "nuser_jnt must be >= -1");
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ReadAttrInt(section, "nuser_jnt", &s->nuser_jnt);
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if (s->nuser_jnt < -1) throw mjXError(section, "nuser_jnt must be >= -1");
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ReadAttrInt(section, "nuser_geom", &spec->nuser_geom);
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if (spec->nuser_geom < -1) throw mjXError(section, "nuser_geom must be >= -1");
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ReadAttrInt(section, "nuser_geom", &s->nuser_geom);
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if (s->nuser_geom < -1) throw mjXError(section, "nuser_geom must be >= -1");
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ReadAttrInt(section, "nuser_site", &spec->nuser_site);
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if (spec->nuser_site < -1) throw mjXError(section, "nuser_site must be >= -1");
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ReadAttrInt(section, "nuser_site", &s->nuser_site);
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if (s->nuser_site < -1) throw mjXError(section, "nuser_site must be >= -1");
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ReadAttrInt(section, "nuser_cam", &spec->nuser_cam);
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if (spec->nuser_cam < -1) throw mjXError(section, "nuser_cam must be >= -1");
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ReadAttrInt(section, "nuser_cam", &s->nuser_cam);
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if (s->nuser_cam < -1) throw mjXError(section, "nuser_cam must be >= -1");
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ReadAttrInt(section, "nuser_tendon", &spec->nuser_tendon);
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if (spec->nuser_tendon < -1) throw mjXError(section, "nuser_tendon must be >= -1");
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ReadAttrInt(section, "nuser_tendon", &s->nuser_tendon);
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if (s->nuser_tendon < -1) throw mjXError(section, "nuser_tendon must be >= -1");
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ReadAttrInt(section, "nuser_actuator", &spec->nuser_actuator);
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if (spec->nuser_actuator < -1) throw mjXError(section, "nuser_actuator must be >= -1");
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ReadAttrInt(section, "nuser_actuator", &s->nuser_actuator);
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if (s->nuser_actuator < -1) throw mjXError(section, "nuser_actuator must be >= -1");
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ReadAttrInt(section, "nuser_sensor", &spec->nuser_sensor);
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if (spec->nuser_sensor < -1) throw mjXError(section, "nuser_sensor must be >= -1");
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ReadAttrInt(section, "nuser_sensor", &s->nuser_sensor);
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if (s->nuser_sensor < -1) throw mjXError(section, "nuser_sensor must be >= -1");
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}
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@@ -42,9 +42,9 @@ class mjXReader : public mjXBase {
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void SetTextureDir(const std::string& texturedir);
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// XML sections embedded in all formats
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static void Compiler(tinyxml2::XMLElement* section, mjSpec* spec); // compiler section
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static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section
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static void Size(tinyxml2::XMLElement* section, mjSpec* spec); // size section
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static void Compiler(tinyxml2::XMLElement* section, mjSpec* s); // compiler section
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static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section
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static void Size(tinyxml2::XMLElement* section, mjSpec* s); // size section
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private:
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// XML section specific to MJCF
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