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Cosmetic improvements to src/xml/ source files.

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PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777
This commit is contained in:
Yuval Tassa
2025-03-18 08:11:40 -07:00
committed by Copybara-Service
parent 205599ac1a
commit efe213a7b3
5 changed files with 743 additions and 733 deletions
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src/xml/xml_util.cc
+41 -41
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@@ -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;
}