Renamed mjmModel to mjSpec.

PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f

src/xml/xml.cc

@@ -99,7 +99,7 @@ class LocaleOverride {
 }  // namespace
 
 // Main writer function - calls mjXWrite
-std::string mjWriteXML(mjmModel* model, char* error, int error_sz) {
+std::string mjWriteXML(mjSpec* model, char* error, int error_sz) {
   LocaleOverride locale_override;
 
   // check for empty model
@@ -272,7 +272,7 @@ static void mjIncludeXML(mjXReader& reader, XMLElement* elem,
 
 
 // Main parser function
-mjmModel* mjParseXML(const char* filename, const mjVFS* vfs,
+mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
                      char* error, int error_sz) {
   LocaleOverride locale_override;
 
@@ -285,7 +285,7 @@ mjmModel* mjParseXML(const char* filename, const mjVFS* vfs,
   }
 
   // clear
-  mjmModel* model = nullptr;
+  mjSpec* model = nullptr;
   if (error) {
     error[0] = '\0';
   }

src/xml/xml.h

@@ -24,10 +24,10 @@
 // Top level API
 
 // Main writer function
-std::string mjWriteXML(mjmModel* model, char* error, int error_sz);
+std::string mjWriteXML(mjSpec* model, char* error, int error_sz);
 
 // Main parser function
-MJAPI mjmModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
+MJAPI mjSpec* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
 
 
 #endif  // MUJOCO_SRC_XML_XML_H_

src/xml/xml_api.cc

@@ -37,7 +37,7 @@
 class GlobalModel {
  public:
   // deletes current model and takes ownership of model
-  void Set(mjmModel* model = nullptr);
+  void Set(mjSpec* model = nullptr);
 
   // writes XML to string
   std::optional<std::string> ToXML(const mjModel* m, char* error,
@@ -46,7 +46,7 @@ class GlobalModel {
  private:
   // using raw pointers as GlobalModel needs to be trivially destructible
   std::mutex* mutex_ = new std::mutex();
-  mjmModel* model_ = nullptr;
+  mjSpec* model_ = nullptr;
 };
 
 std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
@@ -64,7 +64,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
   return result;
 }
 
-void GlobalModel::Set(mjmModel* model) {
+void GlobalModel::Set(mjSpec* model) {
   std::lock_guard<std::mutex> lock(*mutex_);
   if (model_ != nullptr) {
     mjm_deleteModel(model_);
@@ -91,9 +91,9 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
                     char* error, int error_sz) {
 
   // parse new model
-  std::unique_ptr<mjmModel, std::function<void(mjmModel*)>> model(
+  std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
       mjParseXML(filename, vfs, error, error_sz),
-      [](mjmModel* m) { mjm_deleteModel(m); });
+      [](mjSpec* m) { mjm_deleteModel(m); });
   if (!model) {
     return nullptr;
   }

src/xml/xml_base.cc

@@ -44,7 +44,7 @@ mjXBase::mjXBase() {
 
 
 // set model field
-void mjXBase::SetModel(mjmModel* _model) {
+void mjXBase::SetModel(mjSpec* _model) {
   model = _model;
 }
 

src/xml/xml_base.h

@@ -87,13 +87,13 @@ class mjXBase : public mjXUtil {
   };
 
   // set the model allocated externally
-  virtual void SetModel(mjmModel*);
+  virtual void SetModel(mjSpec*);
 
   // read alternative orientation specification
   static int ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
 
  protected:
-  mjmModel* model;                    // internally-allocated model
+  mjSpec* model;                    // internally-allocated model
 };
 
 #endif  // MUJOCO_SRC_XML_XML_BASE_H_

src/xml/xml_native_reader.cc

@@ -913,7 +913,7 @@ void mjXReader::Parse(XMLElement* root) {
 
 
 // compiler section parser
-void mjXReader::Compiler(XMLElement* section, mjmModel* mod) {
+void mjXReader::Compiler(XMLElement* section, mjSpec* mod) {
   string text;
   int n;
 
@@ -1100,7 +1100,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
 
 
 // size section parser
-void mjXReader::Size(XMLElement* section, mjmModel* mod) {
+void mjXReader::Size(XMLElement* section, mjSpec* mod) {
   // read memory bytes
   {
     constexpr char err_msg[] =

src/xml/xml_native_reader.h

@@ -42,9 +42,9 @@ class mjXReader : public mjXBase {
   void SetTextureDir(std::string texturedir);
 
   // XML sections embedded in all formats
-  static void Compiler(tinyxml2::XMLElement* section, mjmModel* mod);  // compiler section
+  static void Compiler(tinyxml2::XMLElement* section, mjSpec* mod);  // compiler section
   static void Option(tinyxml2::XMLElement* section, mjOption* opt);    // option section
-  static void Size(tinyxml2::XMLElement* section, mjmModel* mod);      // size section
+  static void Size(tinyxml2::XMLElement* section, mjSpec* mod);      // size section
 
  private:
   // XML section specific to MJCF

src/xml/xml_native_writer.cc

@@ -765,7 +765,7 @@ mjXWriter::mjXWriter(void) {
 
 
 // cast model
-void mjXWriter::SetModel(mjmModel* modelspec) {
+void mjXWriter::SetModel(mjSpec* modelspec) {
   if (modelspec) {
     model = (mjCModel*)modelspec->element;
   }

src/xml/xml_native_writer.h

@@ -27,7 +27,7 @@ class mjXWriter : public mjXBase {
  public:
   mjXWriter();                                        // constructor
   virtual ~mjXWriter() = default;                     // destructor
-  void SetModel(mjmModel* modelspec);
+  void SetModel(mjSpec* modelspec);
 
   // write XML document to string
   std::string Write(char *error, std::size_t error_sz);