Cosmetic improvements to src/xml/ source files.

PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777

src/xml/xml_api.cc

@@ -98,9 +98,11 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
                     char* error, int error_sz) {
 
   // parse new model
-  std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> spec(
-      ParseXML(filename, vfs, error, error_sz),
-      [](mjSpec* s) { mj_deleteSpec(s); });
+  std::unique_ptr<mjSpec, std::function<void(mjSpec*)> > spec(
+    ParseXML(filename, vfs, error, error_sz),
+    [](mjSpec* s) {
+      mj_deleteSpec(s);
+    });
   if (!spec) {
     return nullptr;
   }
@@ -166,7 +168,7 @@ int mj_printSchema(const char* filename, char* buffer, int buffer_sz, int flg_ht
   // print to stringstream
   mjXReader reader;
   std::stringstream str;
-  reader.PrintSchema(str, flg_html!=0, flg_pad!=0);
+  reader.PrintSchema(str, flg_html != 0, flg_pad != 0);
 
   // filename given: write to file
   if (filename) {

src/xml/xml_urdf.cc

@@ -125,7 +125,7 @@ void mjXURDF::Parse(
   while (elem) {
     // identify link elements
     name = elem->Value();
-    if (name=="link") {
+    if (name == "link") {
       ReadAttrTxt(elem, "name", text, true);
       text = GetPrefixedName(text);
       AddBody(text);
@@ -140,7 +140,7 @@ void mjXURDF::Parse(
   while (elem) {
     // identify joint elements
     name = elem->Value();
-    if (name=="joint") {
+    if (name == "joint") {
       // find parent, get name and id
       temp = FindSubElem(elem, "parent", true);
       ReadAttrTxt(temp, "link", text, true);
@@ -154,12 +154,12 @@ void mjXURDF::Parse(
       id_child = FindName(text, urName);
 
       // make sure parent and child exist
-      if (id_parent<0 || id_child<0) {
+      if (id_parent < 0 || id_child < 0) {
         throw mjXError(elem, "URDF joint parent or child missing");
       }
 
       // check for multiple parents
-      if (urParent[id_child]>=0) {
+      if (urParent[id_child] >= 0) {
         throw mjXError(elem, "URDF body has multiple parents:", urName[id_child].c_str());
       }
 
@@ -173,7 +173,7 @@ void mjXURDF::Parse(
   }
 
   // find all top-level bodies, call recursive tree constructor
-  for (int i=0; i<(int)urName.size(); i++) {
+  for (int i=0; i < (int)urName.size(); i++) {
     if (urParent[i] < 0) {
       AddToTree(i);
     }
@@ -184,7 +184,7 @@ void mjXURDF::Parse(
   while (elem) {
     // identify body/link elements
     name = elem->Value();
-    if (name=="link") {
+    if (name == "link") {
       Body(elem);
     }
 
@@ -197,7 +197,7 @@ void mjXURDF::Parse(
   while (elem) {
     // identify body/link elements
     name = elem->Value();
-    if (name=="joint") {
+    if (name == "joint") {
       Joint(elem);
     }
 
@@ -297,7 +297,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
     name = elem->Value();
 
     // visual element
-    if (name=="visual") {
+    if (name == "visual") {
       // parse material
       if ((temp = FindSubElem(elem, "material"))) {
         // if color specified - use directly
@@ -310,7 +310,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
           ReadAttrTxt(temp, "name", name, true);
           name = GetPrefixedName(name);
           int imat = FindName(name, urMat);
-          if (imat>=0) {
+          if (imat >= 0) {
             std::memcpy(rgba, urRGBA[imat].val, 4*sizeof(float));
           }
         }
@@ -320,7 +320,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
         pgeom = Geom(elem, pbody, false);
 
         // save color
-        if (rgba[0]>=0) {
+        if (rgba[0] >= 0) {
           std::memcpy(pgeom->rgba, rgba, 4*sizeof(float));
         }
 
@@ -339,11 +339,11 @@ void mjXURDF::Body(XMLElement* body_elem) {
     }
 
     // collision element
-    else if (name=="collision") {
+    else if (name == "collision") {
       pgeom = Geom(elem, pbody, true);
 
       // use color from last visual
-      if (rgba[0]>=0) {
+      if (rgba[0] >= 0) {
         std::memcpy(pgeom->rgba, rgba, 4*sizeof(float));
       }
 
@@ -418,71 +418,71 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
   // create joint (unless fixed)
   double mat[9], quat[4], tmpaxis[3];
   switch (jointtype) {
-  case 0:     // revolute
-  case 1:     // continuous
-    pjoint = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint->name, jntname.c_str());
-    pjoint->type = mjJNT_HINGE;
-    mjuu_setvec(pjoint->pos, 0, 0, 0);
-    mjuu_copyvec(pjoint->axis, axis, 3);
-    break;
+    case 0:   // revolute
+    case 1:   // continuous
+      pjoint = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint->name, jntname.c_str());
+      pjoint->type = mjJNT_HINGE;
+      mjuu_setvec(pjoint->pos, 0, 0, 0);
+      mjuu_copyvec(pjoint->axis, axis, 3);
+      break;
 
-  case 2:     // prismatic
-    pjoint = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint->name, jntname.c_str());
-    pjoint->type = mjJNT_SLIDE;
-    mjuu_setvec(pjoint->pos, 0, 0, 0);
-    mjuu_copyvec(pjoint->axis, axis, 3);
-    break;
+    case 2:   // prismatic
+      pjoint = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint->name, jntname.c_str());
+      pjoint->type = mjJNT_SLIDE;
+      mjuu_setvec(pjoint->pos, 0, 0, 0);
+      mjuu_copyvec(pjoint->axis, axis, 3);
+      break;
 
-  case 3:     // fixed- no joint, return
-    return;
+    case 3:   // fixed- no joint, return
+      return;
 
-  case 4:     // floating
-    pjoint = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint->name, jntname.c_str());
-    pjoint->type = mjJNT_FREE;
-    break;
+    case 4:   // floating
+      pjoint = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint->name, jntname.c_str());
+      pjoint->type = mjJNT_FREE;
+      break;
 
-  case 5:     // planar- construct complex joint
-    // make frame with axis = z
-    mjuu_z2quat(quat, axis);
-    mjuu_quat2mat(mat, quat);
+    case 5:   // planar- construct complex joint
+      // make frame with axis = z
+      mjuu_z2quat(quat, axis);
+      mjuu_quat2mat(mat, quat);
 
-    // construct slider along x
-    pjoint = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint->name, (jntname + "_TX").c_str());
-    pjoint->type = mjJNT_SLIDE;
-    tmpaxis[0] = mat[0];
-    tmpaxis[1] = mat[3];
-    tmpaxis[2] = mat[6];
-    mjuu_setvec(pjoint->pos, 0, 0, 0);
-    mjuu_copyvec(pjoint->axis, tmpaxis, 3);
+      // construct slider along x
+      pjoint = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint->name, (jntname + "_TX").c_str());
+      pjoint->type = mjJNT_SLIDE;
+      tmpaxis[0] = mat[0];
+      tmpaxis[1] = mat[3];
+      tmpaxis[2] = mat[6];
+      mjuu_setvec(pjoint->pos, 0, 0, 0);
+      mjuu_copyvec(pjoint->axis, tmpaxis, 3);
 
-    // construct slider along y
-    pjoint1 = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint1->name, (jntname + "_TY").c_str());
-    pjoint1->type = mjJNT_SLIDE;
-    tmpaxis[0] = mat[1];
-    tmpaxis[1] = mat[4];
-    tmpaxis[2] = mat[7];
-    mjuu_setvec(pjoint1->pos, 0, 0, 0);
-    mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
+      // construct slider along y
+      pjoint1 = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint1->name, (jntname + "_TY").c_str());
+      pjoint1->type = mjJNT_SLIDE;
+      tmpaxis[0] = mat[1];
+      tmpaxis[1] = mat[4];
+      tmpaxis[2] = mat[7];
+      mjuu_setvec(pjoint1->pos, 0, 0, 0);
+      mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
 
-    // construct hinge around z = locaxis
-    pjoint2 = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint2->name, (jntname + "_RZ").c_str());
-    pjoint2->type = mjJNT_HINGE;
-    mjuu_setvec(pjoint2->pos, 0, 0, 0);
-    mjuu_copyvec(pjoint2->axis, axis, 3);
-    break;
+      // construct hinge around z = locaxis
+      pjoint2 = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint2->name, (jntname + "_RZ").c_str());
+      pjoint2->type = mjJNT_HINGE;
+      mjuu_setvec(pjoint2->pos, 0, 0, 0);
+      mjuu_copyvec(pjoint2->axis, axis, 3);
+      break;
 
-  case 6:  // ball joint
-    pjoint = mjs_addJoint(pbody, 0);
-    mjs_setString(pjoint->name, jntname.c_str());
-    pjoint->type = mjJNT_BALL;
-    mjuu_setvec(pjoint->pos, 0, 0, 0);
-    mjuu_copyvec(pjoint->axis, axis, 3);
+    case 6: // ball joint
+      pjoint = mjs_addJoint(pbody, 0);
+      mjs_setString(pjoint->name, jntname.c_str());
+      pjoint->type = mjJNT_BALL;
+      mjuu_setvec(pjoint->pos, 0, 0, 0);
+      mjuu_copyvec(pjoint->axis, axis, 3);
   }
 
   // dynamics element
@@ -546,7 +546,7 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
   // box
   if ((temp = FindSubElem(elem, "box"))) {
     ReadAttr(temp, "size", 3, pgeom->size, text, true, true);
-    for (int i=0; i<3; i++) {
+    for (int i=0; i < 3; i++) {
       pgeom->size[i] /= 2;  // MuJoCo uses half-length
     }
   }
@@ -673,7 +673,7 @@ void mjXURDF::Origin(XMLElement* origin_elem, double* pos, double* quat) {
 
 // find body with given name in list, return -1 if not found
 int mjXURDF::FindName(std::string name, std::vector<std::string>& list) {
-  for (unsigned int i=0; i<list.size(); i++)
+  for (unsigned int i=0; i < list.size(); i++)
     if (list[i] == name) {
       return i;
     }
@@ -686,7 +686,7 @@ int mjXURDF::FindName(std::string name, std::vector<std::string>& list) {
 // add name to list, error if name already exists
 void mjXURDF::AddName(std::string name, std::vector<std::string>& list) {
   // make sure name is unique
-  if (FindName(name, list)>=0) {
+  if (FindName(name, list) >= 0) {
     throw mjXError(0, "repeated URDF name: ", name.c_str());
   }
 
@@ -713,7 +713,7 @@ void mjXURDF::AddBody(std::string name) {
 void mjXURDF::AddToTree(int n) {
   // get pointer to parent in mjCModel tree
   mjsBody *parent = 0, *child = 0, *world = 0;
-  if (urParent[n]>=0) {
+  if (urParent[n] >= 0) {
     world = mjs_findBody(spec, "world");
     parent = mjs_findChild(world, urName[urParent[n]].c_str());
 
@@ -731,7 +731,7 @@ void mjXURDF::AddToTree(int n) {
   }
 
   // add children recursively
-  for (int i=0; i<(int)urChildren[n].size(); i++) {
+  for (int i=0; i < (int)urChildren[n].size(); i++) {
     AddToTree(urChildren[n][i]);
   }
 }

src/xml/xml_util.cc

@@ -112,7 +112,7 @@ FilePath ResolveFilePath(XMLElement* e, const FilePath& filename,
 
 // error string copy
 void mjCopyError(char* dst, const char* src, int maxlen) {
-  if (dst && maxlen>0) {
+  if (dst && maxlen > 0) {
     strncpy(dst, src, maxlen);
     dst[maxlen-1] = 0;
   }
@@ -243,7 +243,7 @@ std::string mjXSchema::GetError() {
 
 // print spaces
 static void printspace(std::stringstream& str, int n, const char* space) {
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     str << space;
   }
 }
@@ -259,14 +259,14 @@ void mjXSchema::Print(std::stringstream& str, int level) const {
   printspace(str, 3*level, " ");
   str << name1 << " (" << type_ << ")";
   int baselen = 3*level + (int)name1.size() + 4;
-  if (baselen<30) {
+  if (baselen < 30) {
     printspace(str, 30-baselen, " ");
   }
 
   // attributes
   int cnt = std::max(baselen, 30);
   for (const std::string& attr : attr_) {
-    if (cnt>60) {
+    if (cnt > 60) {
       str << "\n";
       printspace(str, (cnt = std::max(30, baselen)), " ");
     }
@@ -290,7 +290,7 @@ void mjXSchema::PrintHTML(std::stringstream& str, int level, bool pad) const {
   std::string name1 = (name_ == "body" ? "(world)body" : name_);
 
   // open table
-  if (level==0) {
+  if (level == 0) {
     str << "<table border=\"1\">\n";
   }
 
@@ -341,9 +341,9 @@ bool mjXSchema::NameMatch(XMLElement* elem, int level) {
   // special handling of body, worldbody, and frame
   if (name_ == "body" &&
       ((level == 1 && !strcmp(elem->Value(), "worldbody")) ||
-      (level != 1 && !strcmp(elem->Value(), "body")) ||
-      (level >= 1 && !strcmp(elem->Value(), "frame")) ||
-      (level >= 1 && !strcmp(elem->Value(), "replicate")))) {
+       (level != 1 && !strcmp(elem->Value(), "body")) ||
+       (level >= 1 && !strcmp(elem->Value(), "frame")) ||
+       (level >= 1 && !strcmp(elem->Value(), "replicate")))) {
     return true;
   }
 
@@ -426,23 +426,23 @@ XMLElement* mjXSchema::Check(XMLElement* elem, int level) {
   msg[0] = '\0';
   for (mjXSchema& subschema : subschema_) {
     switch (subschema.type_) {
-    case '!':
-      if (subschema.refcnt_ > 1)
-        mju::sprintf_arr(msg, "unique element '%s' found %d times",
-                         subschema.name_.c_str(), subschema.refcnt_);
-      else if (subschema.refcnt_ < 1)
-        mju::sprintf_arr(msg, "element '%s' is required",
-                         subschema.name_.c_str());
-      break;
+      case '!':
+        if (subschema.refcnt_ > 1)
+          mju::sprintf_arr(msg, "unique element '%s' found %d times",
+                           subschema.name_.c_str(), subschema.refcnt_);
+        else if (subschema.refcnt_ < 1)
+          mju::sprintf_arr(msg, "element '%s' is required",
+                           subschema.name_.c_str());
+        break;
 
-    case '?':
-      if (subschema.refcnt_ > 1)
-        mju::sprintf_arr(msg, "unique element '%s' found %d times",
-                         subschema.name_.c_str(), subschema.refcnt_);
-      break;
+      case '?':
+        if (subschema.refcnt_ > 1)
+          mju::sprintf_arr(msg, "unique element '%s' found %d times",
+                           subschema.name_.c_str(), subschema.refcnt_);
+        break;
 
-    default:
-      break;
+      default:
+        break;
     }
   }
 
@@ -539,7 +539,7 @@ template bool mjXUtil::SameVector(const unsigned char* vec1, const unsigned char
 
 // find string in map, return corresponding integer (-1: not found)
 int mjXUtil::FindKey(const mjMap* map, int mapsz, std::string key) {
-  for (int i=0; i<mapsz; i++) {
+  for (int i=0; i < mapsz; i++) {
     if (map[i].key == key) {
       return map[i].value;
     }
@@ -552,7 +552,7 @@ int mjXUtil::FindKey(const mjMap* map, int mapsz, std::string key) {
 
 // find integer in map, return corresponding string ("": not found)
 std::string mjXUtil::FindValue(const mjMap* map, int mapsz, int value) {
-  for (int i=0; i<mapsz; i++) {
+  for (int i=0; i < mapsz; i++) {
     if (map[i].value == value) {
       return map[i].key;
     }
@@ -565,8 +565,8 @@ std::string mjXUtil::FindValue(const mjMap* map, int mapsz, int value) {
 
 // if attribute is present, return vector of numerical data
 template<typename T>
-std::optional<std::vector<T>> mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr,
-                                                   bool required) {
+std::optional<std::vector<T> > mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr,
+                                                    bool required) {
   std::vector<T> v;
   const char* raw_cstr = elem->Attribute(attr);
   if (raw_cstr) {
@@ -593,13 +593,13 @@ std::optional<std::vector<T>> mjXUtil::ReadAttrVec(XMLElement* elem, const char*
   return v;
 }
 
-template std::optional<std::vector<double>>
+template std::optional<std::vector<double> >
 mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-template std::optional<std::vector<float>>
+template std::optional<std::vector<float> >
 mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-template std::optional<std::vector<int>>
+template std::optional<std::vector<int> >
 mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-template std::optional<std::vector<unsigned char>>
+template std::optional<std::vector<unsigned char> >
 mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
 
 
@@ -751,10 +751,10 @@ bool mjXUtil::ReadAttrInt(XMLElement* elem, const char* attr, int* data, bool re
 void mjXUtil::Vector2String(std::string& txt, const std::vector<float>& vec, int ncol) {
   std::stringstream strm;
 
-  for (size_t i=0; i<vec.size(); i++) {
+  for (size_t i=0; i < vec.size(); i++) {
     if (ncol && (i % ncol) == 0) {
       strm << "\n            ";
-    } else if (i>0) {
+    } else if (i > 0) {
       strm << " ";
     }
     strm << vec[i];
@@ -839,7 +839,7 @@ void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n, const T* data
                         bool trim) {
   // make sure all are defined
   if constexpr (std::is_floating_point_v<T>) {
-    for (int i=0; i<n; i++) {
+    for (int i=0; i < n; i++) {
       if (std::isnan(data[i])) {
         return;
       }
@@ -863,9 +863,9 @@ void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n, const T* data
   stream.precision(mujoco::_mjPRIVATE__get_xml_precision());
 
   // process all numbers
-  for (int i=0; i<n; i++) {
+  for (int i=0; i < n; i++) {
     // add space between numbers
-    if (i>0) {
+    if (i > 0) {
       stream << " ";
     }
 
@@ -901,7 +901,7 @@ template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
 void mjXUtil::WriteVector(XMLElement* elem, std::string name, const std::vector<double>& vec) {
   // proceed only if non-zero found
   bool ok = false;
-  for (size_t i=0; i<vec.size(); i++) {
+  for (size_t i=0; i < vec.size(); i++) {
     if (vec[i]) {
       ok = true;
       break;
@@ -921,8 +921,8 @@ void mjXUtil::WriteVector(XMLElement* elem, std::string name, const std::vector<
                           const std::vector<double>& def) {
   // proceed only if non-zero found
   bool ok = false;
-  for (size_t i=0; i<vec.size(); i++) {
-    if (vec[i]!=def[i]) {
+  for (size_t i=0; i < vec.size(); i++) {
+    if (vec[i] != def[i]) {
       ok = true;
       break;
     }
@@ -952,7 +952,7 @@ void mjXUtil::WriteAttrTxt(XMLElement* elem, std::string name, std::string value
 // write attribute- single int
 void mjXUtil::WriteAttrInt(XMLElement* elem, std::string name, int data, int def) {
   // skip default
-  if (data==def) {
+  if (data == def) {
     return;
   }
 
@@ -965,7 +965,7 @@ void mjXUtil::WriteAttrInt(XMLElement* elem, std::string name, int data, int def
 void mjXUtil::WriteAttrKey(XMLElement* elem, std::string name,
                            const mjMap* map, int mapsz, int data, int def) {
   // skip default
-  if (data==def) {
+  if (data == def) {
     return;
   }