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(
+  std::unique_ptr<mjSpec, std::function<void(mjSpec*)> > spec(
     ParseXML(filename, vfs, error, error_sz),
-      [](mjSpec* s) { mj_deleteSpec(s); });
+    [](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_native_writer.cc

@@ -56,7 +56,7 @@ class mj_XMLPrinter : public tinyxml2::XMLPrinter {
 
  public:
     void PrintSpace( int depth ) {
-      for (int i=0; i<depth; ++i) {
+      for (int i=0; i < depth; ++i) {
         Write( "  " );
       }
     }
@@ -290,7 +290,7 @@ void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* skin) {
     WriteAttrTxt(elem, "face", text);
 
     // bones
-    for (size_t i=0; i<skin->get_bodyname().size(); i++) {
+    for (size_t i=0; i < skin->get_bodyname().size(); i++) {
       // make bone
       XMLElement* bone = InsertEnd(elem, "bone");
 
@@ -325,7 +325,7 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* material, mjCDe
   // defaults and regular
   // check if we have non-rgb textures
   bool has_non_rgb = false;
-  for (int i=1; i<mjNTEXROLE; i++) {
+  for (int i=1; i < mjNTEXROLE; i++) {
     if (!material->textures_[i].empty()) {
       if (i != mjTEXROLE_RGB) {
         has_non_rgb = true;
@@ -335,7 +335,7 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* material, mjCDe
 
   // if we have non-rgb textures, write them as layers
   if (has_non_rgb) {
-    for (int i=1; i<mjNTEXROLE; i++) {
+    for (int i=1; i < mjNTEXROLE; i++) {
       if (!material->textures_[i].empty()) {
         XMLElement * child_elem = InsertEnd(elem, "layer");
         WriteAttrTxt(child_elem, "texture", material->textures_[i]);
@@ -432,7 +432,7 @@ void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, stri
     }
 
     // mesh geom
-    if (geom->type==mjGEOM_MESH || geom->type==mjGEOM_SDF) {
+    if (geom->type == mjGEOM_MESH || geom->type == mjGEOM_SDF) {
       mjCMesh* mesh = geom->mesh;
 
       // write pos/quat if there is a difference
@@ -474,7 +474,8 @@ void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, stri
   WriteAttr(elem, "margin", 1, &geom->margin, &def->Geom().margin);
   WriteAttr(elem, "gap", 1, &geom->gap, &def->Geom().gap);
   WriteAttr(elem, "gap", 1, &geom->gap, &def->Geom().gap);
-  WriteAttrKey(elem, "fluidshape", fluid_map, 2, geom->fluid_ellipsoid, def->Geom().fluid_ellipsoid);
+  WriteAttrKey(elem, "fluidshape",
+               fluid_map, 2, geom->fluid_ellipsoid, def->Geom().fluid_ellipsoid);
   WriteAttr(elem, "fluidcoef", 5, geom->fluid_coefs, def->Geom().fluid_coefs);
   if (geom->type != mjGEOM_MESH) {
     WriteAttrKey(elem, "shellinertia", meshtype_map, 2, geom->typeinertia,
@@ -491,10 +492,10 @@ void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, stri
   WriteAttr(elem, "rgba", 4, geom->rgba, def->Geom().rgba);
 
   // hfield and mesh attributes
-  if (geom->type==mjGEOM_HFIELD) {
+  if (geom->type == mjGEOM_HFIELD) {
     WriteAttrTxt(elem, "hfield", geom->get_hfieldname());
   }
-  if (geom->type==mjGEOM_MESH || geom->type==mjGEOM_SDF) {
+  if (geom->type == mjGEOM_MESH || geom->type == mjGEOM_SDF) {
     WriteAttrTxt(elem, "mesh", geom->get_meshname());
   }
 
@@ -569,7 +570,7 @@ void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def
   WriteAttrKey(elem, "orthographic", bool_map, 2, camera->orthographic, def->Camera().orthographic);
 
   // camera intrinsics if specified
-  if (camera->sensor_size[0]>0 && camera->sensor_size[1]>0) {
+  if (camera->sensor_size[0] > 0 && camera->sensor_size[1] > 0) {
     WriteAttr(elem, "sensorsize", 2, camera->sensor_size);
     WriteAttr(elem, "focal", 2, camera->focal_length, def->Camera().focal_length);
     WriteAttr(elem, "focalpixel", 2, camera->focal_pixel, def->Camera().focal_pixel);
@@ -705,7 +706,7 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
 
 // write tendon
 void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def) {
-  bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->type==mjWRAP_JOINT);
+  bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->type == mjWRAP_JOINT);
 
   // regular
   if (!writingdefaults) {
@@ -737,7 +738,7 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def
   }
   // spatial only
   if (!fixed) {
-    if (tendon->get_material()!=def->Tendon().get_material()) {
+    if (tendon->get_material() != def->Tendon().get_material()) {
       WriteAttrTxt(elem, "material", tendon->get_material());
     }
     WriteAttr(elem, "width", 1, &tendon->width, &def->Tendon().width);
@@ -1122,7 +1123,8 @@ void mjXWriter::Visual(XMLElement* root) {
 
   // global
   elem = InsertEnd(section, "global");
-  WriteAttrKey(elem, "orthographic", bool_map, 2, vis->global.orthographic, visdef.global.orthographic);
+  WriteAttrKey(elem, "orthographic",
+               bool_map, 2, vis->global.orthographic, visdef.global.orthographic);
   WriteAttr(elem,    "fovy",      1,   &vis->global.fovy,        &visdef.global.fovy);
   WriteAttr(elem,    "ipd",       1,   &vis->global.ipd,         &visdef.global.ipd);
   WriteAttr(elem,    "azimuth",   1,   &vis->global.azimuth,     &visdef.global.azimuth);
@@ -1132,7 +1134,8 @@ void mjXWriter::Visual(XMLElement* root) {
   WriteAttr(elem,    "realtime",  1,   &vis->global.realtime,    &visdef.global.realtime);
   WriteAttrInt(elem, "offwidth",       vis->global.offwidth,     visdef.global.offwidth);
   WriteAttrInt(elem, "offheight",      vis->global.offheight,    visdef.global.offheight);
-  WriteAttrKey(elem, "ellipsoidinertia", bool_map, 2, vis->global.ellipsoidinertia, visdef.global.ellipsoidinertia);
+  WriteAttrKey(elem, "ellipsoidinertia",
+               bool_map, 2, vis->global.ellipsoidinertia, visdef.global.ellipsoidinertia);
   WriteAttrKey(elem, "bvactive", bool_map, 2, vis->global.bvactive, visdef.global.bvactive);
   if (!elem->FirstAttribute()) {
     section->DeleteChild(elem);
@@ -1322,7 +1325,7 @@ void mjXWriter::Default(XMLElement* root, mjCDef* def) {
   }
 
   // add children recursively
-  for (int i=0; i<(int)def->child.size(); i++) {
+  for (int i=0; i < (int)def->child.size(); i++) {
     Default(section, def->child[i]);
   }
 
@@ -1407,7 +1410,7 @@ void mjXWriter::Custom(XMLElement* root) {
   int ntup = model->NumObjects(mjOBJ_TUPLE);
 
   // skip section if empty
-  if (nnum==0 && ntxt==0 && ntup==0) {
+  if (nnum == 0 && ntxt == 0 && ntup == 0) {
     return;
   }
 
@@ -1415,7 +1418,7 @@ void mjXWriter::Custom(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "custom");
 
   // write all numerics
-  for (int i=0; i<nnum; i++) {
+  for (int i=0; i < nnum; i++) {
     mjCNumeric* numeric = (mjCNumeric*)model->GetObject(mjOBJ_NUMERIC, i);
     elem = InsertEnd(section, "numeric");
     WriteAttrTxt(elem, "name", numeric->name);
@@ -1424,7 +1427,7 @@ void mjXWriter::Custom(XMLElement* root) {
   }
 
   // write all texts
-  for (int i=0; i<ntxt; i++) {
+  for (int i=0; i < ntxt; i++) {
     mjCText* text = (mjCText*)model->GetObject(mjOBJ_TEXT, i);
     elem = InsertEnd(section, "text");
     WriteAttrTxt(elem, "name", text->name);
@@ -1432,18 +1435,18 @@ void mjXWriter::Custom(XMLElement* root) {
   }
 
   // write all tuples
-  for (int i=0; i<ntup; i++) {
+  for (int i=0; i < ntup; i++) {
     mjCTuple* tuple = (mjCTuple*)model->GetObject(mjOBJ_TUPLE, i);
     elem = InsertEnd(section, "tuple");
     WriteAttrTxt(elem, "name", tuple->name);
 
     // write objects in tuple
-    for (int j=0; j<(int)tuple->objtype_.size(); j++) {
+    for (int j=0; j < (int)tuple->objtype_.size(); j++) {
       XMLElement* obj = InsertEnd(elem, "element");
       WriteAttrTxt(obj, "objtype", mju_type2Str((int)tuple->objtype_[j]));
       WriteAttrTxt(obj, "objname", tuple->objname_[j].c_str());
       double oprm = tuple->objprm_[j];
-      if (oprm!=0) {
+      if (oprm != 0) {
         WriteAttr(obj, "prm", 1, &oprm);
       }
     }
@@ -1463,7 +1466,7 @@ void mjXWriter::Asset(XMLElement* root) {
   int nhfield = model->NumObjects(mjOBJ_HFIELD);
 
   // return if empty
-  if (ntex==0 && nmat==0 && nmesh==0 && nhfield==0) {
+  if (ntex == 0 && nmat == 0 && nmesh == 0 && nhfield == 0) {
     return;
   }
 
@@ -1472,7 +1475,7 @@ void mjXWriter::Asset(XMLElement* root) {
 
   // write textures
   mjCTexture deftex(0);
-  for (int i=0; i<ntex; i++) {
+  for (int i=0; i < ntex; i++) {
     // create element
     mjCTexture* texture = (mjCTexture*)model->GetObject(mjOBJ_TEXTURE, i);
     elem = InsertEnd(section, "texture");
@@ -1482,7 +1485,7 @@ void mjXWriter::Asset(XMLElement* root) {
     WriteAttrTxt(elem, "name", texture->name);
 
     // write builtin
-    if (texture->builtin!=mjBUILTIN_NONE) {
+    if (texture->builtin != mjBUILTIN_NONE) {
       WriteAttrKey(elem, "builtin", builtin_map, builtin_sz, texture->builtin);
       WriteAttrKey(elem, "mark", mark_map, mark_sz, texture->mark, deftex.mark);
       WriteAttr(elem, "rgb1", 3, texture->rgb1, deftex.rgb1);
@@ -1531,7 +1534,7 @@ void mjXWriter::Asset(XMLElement* root) {
   }
 
   // write materials
-  for (int i=0; i<nmat; i++) {
+  for (int i=0; i < nmat; i++) {
     // create element and write
     mjCMaterial* material = (mjCMaterial*)model->GetObject(mjOBJ_MATERIAL, i);
     elem = InsertEnd(section, "material");
@@ -1539,7 +1542,7 @@ void mjXWriter::Asset(XMLElement* root) {
   }
 
   // write meshes
-  for (int i=0; i<nmesh; i++) {
+  for (int i=0; i < nmesh; i++) {
     // create element and write
     mjCMesh* mesh = (mjCMesh*)model->GetObject(mjOBJ_MESH, i);
     if (mesh->Plugin().active) {
@@ -1553,7 +1556,7 @@ void mjXWriter::Asset(XMLElement* root) {
   }
 
   // write hfields
-  for (int i=0; i<nhfield; i++) {
+  for (int i=0; i < nhfield; i++) {
     // create element
     mjCHField* hfield = (mjCHField*)model->GetObject(mjOBJ_HFIELD, i);
     elem = InsertEnd(section, "hfield");
@@ -1606,7 +1609,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_vi
   }
 
   // write body attributes and inertial
-  else if (!frame && body!=model->GetWorld()) {
+  else if (!frame && body != model->GetWorld()) {
     WriteAttrTxt(elem, "name", body->name);
     if (childclass != body->classname && body->classname != "main") {
       WriteAttrTxt(elem, "childclass", body->classname);
@@ -1629,7 +1632,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_vi
     WriteVector(elem, "user", body->get_userdata());
 
     // write inertial
-    if (body->explicitinertial && model->compiler.inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
+    if (body->explicitinertial && model->compiler.inertiafromgeom != mjINERTIAFROMGEOM_TRUE) {
       XMLElement* inertial = InsertEnd(elem, "inertial");
       WriteAttr(inertial, "pos", 3, body->ipos);
       WriteAttr(inertial, "quat", 4, body->iquat, unitq);
@@ -1760,7 +1763,7 @@ void mjXWriter::Contact(XMLElement* root) {
   int nexclude = model->NumObjects(mjOBJ_EXCLUDE);
 
   // skip if section is empty
-  if (npair==0 && nexclude==0) {
+  if (npair == 0 && nexclude == 0) {
     return;
   }
 
@@ -1768,7 +1771,7 @@ void mjXWriter::Contact(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "contact");
 
   // write all geom pairs
-  for (int i=0; i<npair; i++) {
+  for (int i=0; i < npair; i++) {
     // create element and write
     mjCPair* pair = (mjCPair*)model->GetObject(mjOBJ_PAIR, i);
     elem = InsertEnd(section, "pair");
@@ -1776,7 +1779,7 @@ void mjXWriter::Contact(XMLElement* root) {
   }
 
   // write all exclude pairs
-  for (int i=0; i<nexclude; i++) {
+  for (int i=0; i < nexclude; i++) {
     // create element
     mjCBodyPair* exclude = (mjCBodyPair*)model->GetObject(mjOBJ_EXCLUDE, i);
     elem = InsertEnd(section, "exclude");
@@ -1794,7 +1797,7 @@ void mjXWriter::Contact(XMLElement* root) {
 void mjXWriter::Equality(XMLElement* root) {
   // skip section if empty
   int num;
-  if ((num=model->NumObjects(mjOBJ_EQUALITY))==0) {
+  if ((num=model->NumObjects(mjOBJ_EQUALITY)) == 0) {
     return;
   }
 
@@ -1802,9 +1805,10 @@ void mjXWriter::Equality(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "equality");
 
   // write all constraints
-  for (int i=0; i<num; i++) {
+  for (int i=0; i < num; i++) {
     mjCEquality* equality = (mjCEquality*)model->GetObject(mjOBJ_EQUALITY, i);
-    XMLElement* elem = InsertEnd(section, FindValue(equality_map, equality_sz, equality->type).c_str());
+    XMLElement* elem = InsertEnd(section,
+                                 FindValue(equality_map, equality_sz, equality->type).c_str());
     OneEquality(elem, equality, model->def_map[equality->classname]);
   }
 }
@@ -1820,7 +1824,7 @@ void mjXWriter::Deformable(XMLElement* root) {
   int nskin = model->NumObjects(mjOBJ_SKIN);
 
   // return if empty
-  if (nflex==0 && nskin==0) {
+  if (nflex == 0 && nskin == 0) {
     return;
   }
 
@@ -1828,7 +1832,7 @@ void mjXWriter::Deformable(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "deformable");
 
   // write flexes
-  for (int i=0; i<nflex; i++) {
+  for (int i=0; i < nflex; i++) {
     // create element and write
     mjCFlex* flex = (mjCFlex*)model->GetObject(mjOBJ_FLEX, i);
     elem = InsertEnd(section, "flex");
@@ -1836,7 +1840,7 @@ void mjXWriter::Deformable(XMLElement* root) {
   }
 
   // write skins
-  for (int i=0; i<nskin; i++) {
+  for (int i=0; i < nskin; i++) {
     // create element and write
     mjCSkin* skin = (mjCSkin*)model->GetObject(mjOBJ_SKIN, i);
     elem = InsertEnd(section, "skin");
@@ -1850,7 +1854,7 @@ void mjXWriter::Deformable(XMLElement* root) {
 void mjXWriter::Tendon(XMLElement* root) {
   // skip section if empty
   int num;
-  if ((num=model->NumObjects(mjOBJ_TENDON))==0) {
+  if ((num=model->NumObjects(mjOBJ_TENDON)) == 0) {
     return;
   }
 
@@ -1858,19 +1862,19 @@ void mjXWriter::Tendon(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "tendon");
 
   // write all tendons
-  for (int i=0; i<num; i++) {
+  for (int i=0; i < num; i++) {
     // write tendon element and attributes
     mjCTendon* tendon = (mjCTendon*)model->GetObject(mjOBJ_TENDON, i);
     if (!tendon->NumWraps()) {        // SHOULD NOT OCCUR
       continue;
     }
     XMLElement* elem = InsertEnd(section,
-                                 tendon->GetWrap(0)->type==mjWRAP_JOINT ? "fixed" : "spatial");
+                                 tendon->GetWrap(0)->type == mjWRAP_JOINT ? "fixed" : "spatial");
     OneTendon(elem, tendon, model->def_map[tendon->classname]);
 
     // write wraps
     XMLElement* wrapelem;
-    for (int j=0; j<tendon->NumWraps(); j++) {
+    for (int j=0; j < tendon->NumWraps(); j++) {
       const mjCWrap* wrap = tendon->GetWrap(j);
       switch (wrap->type) {
         case mjWRAP_JOINT:
@@ -1911,7 +1915,7 @@ void mjXWriter::Tendon(XMLElement* root) {
 void mjXWriter::Actuator(XMLElement* root) {
   // skip section if empty
   int num;
-  if ((num=model->NumObjects(mjOBJ_ACTUATOR))==0) {
+  if ((num=model->NumObjects(mjOBJ_ACTUATOR)) == 0) {
     return;
   }
 
@@ -1919,7 +1923,7 @@ void mjXWriter::Actuator(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "actuator");
 
   // write all actuators
-  for (int i=0; i<num; i++) {
+  for (int i=0; i < num; i++) {
     mjCActuator* actuator = (mjCActuator*)model->GetObject(mjOBJ_ACTUATOR, i);
     XMLElement* elem;
     if (actuator->plugin.active) {
@@ -1939,7 +1943,7 @@ void mjXWriter::Sensor(XMLElement* root) {
 
   // skip section if empty
   int num;
-  if ((num=model->NumObjects(mjOBJ_SENSOR))==0) {
+  if ((num=model->NumObjects(mjOBJ_SENSOR)) == 0) {
     return;
   }
 
@@ -1947,7 +1951,7 @@ void mjXWriter::Sensor(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "sensor");
 
   // write all sensors
-  for (int i=0; i<num; i++) {
+  for (int i=0; i < num; i++) {
     XMLElement* elem = 0;
     mjCSensor* sensor = model->Sensors()[i];
     string instance_name = "";
@@ -2201,7 +2205,9 @@ void mjXWriter::Sensor(XMLElement* root) {
       // user-defined sensor
       case mjSENS_USER:
         elem = InsertEnd(section, "user");
-      if (mju_type2Str(sensor->objtype)) WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
+        if (mju_type2Str(sensor->objtype)) {
+          WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
+        }
         WriteAttrTxt(elem, "objname", sensor->get_objname());
         WriteAttrInt(elem, "dim", sensor->dim);
         WriteAttrKey(elem, "needstage", stage_map, stage_sz, (int)sensor->needstage);
@@ -2239,7 +2245,7 @@ void mjXWriter::Keyframe(XMLElement* root) {
   }
 
   // write all keyframes
-  for (int i=0; i<model->nkey; i++) {
+  for (int i=0; i < model->nkey; i++) {
     XMLElement* elem = InsertEnd(section, "key");
     bool change = false;
 
@@ -2252,14 +2258,14 @@ void mjXWriter::Keyframe(XMLElement* root) {
     }
 
     // check time and write
-    if (key->time!=0) {
+    if (key->time != 0) {
       WriteAttr(elem, "time", 1, &key->time);
       change = true;
     }
 
     // check qpos and write
-    for (int j=0; j<model->nq; j++) {
+    for (int j=0; j < model->nq; j++) {
-      if (key->qpos_[j]!=model->qpos0[j]) {
+      if (key->qpos_[j] != model->qpos0[j]) {
         WriteAttr(elem, "qpos", model->nq, key->qpos_.data());
         change = true;
         break;
@@ -2267,8 +2273,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
     }
 
     // check qvel and write
-    for (int j=0; j<model->nv; j++) {
+    for (int j=0; j < model->nv; j++) {
-      if (key->qvel_[j]!=0) {
+      if (key->qvel_[j] != 0) {
         WriteAttr(elem, "qvel", model->nv, key->qvel_.data());
         change = true;
         break;
@@ -2276,8 +2282,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
     }
 
     // check act and write
-    for (int j=0; j<model->na; j++) {
+    for (int j=0; j < model->na; j++) {
-      if (key->act_[j]!=0) {
+      if (key->act_[j] != 0) {
         WriteAttr(elem, "act", model->na, key->act_.data());
         change = true;
         break;
@@ -2286,7 +2292,7 @@ void mjXWriter::Keyframe(XMLElement* root) {
 
     // check mpos and write
     if (model->nmocap) {
-      for (int j=0; j<model->nbody; j++) {
+      for (int j=0; j < model->nbody; j++) {
         if (model->Bodies()[j]->mocap) {
           mjCBody* body = model->Bodies()[j];
           int id = body->mocapid;
@@ -2303,7 +2309,7 @@ void mjXWriter::Keyframe(XMLElement* root) {
 
     // check mquat and write
     if (model->nmocap) {
-      for (int j=0; j<model->nbody; j++) {
+      for (int j=0; j < model->nbody; j++) {
         if (model->Bodies()[j]->mocap) {
           mjCBody* body = model->Bodies()[j];
           int id = body->mocapid;
@@ -2320,8 +2326,8 @@ void mjXWriter::Keyframe(XMLElement* root) {
     }
 
     // check ctrl and write
-    for (int j=0; j<model->nu; j++) {
+    for (int j=0; j < model->nu; j++) {
-      if (key->ctrl_[j]!=0) {
+      if (key->ctrl_[j] != 0) {
         WriteAttr(elem, "ctrl", model->nu, key->ctrl_.data());
         change = true;
         break;

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));
       }
 
@@ -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";
   }
 
@@ -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;
     }
@@ -565,7 +565,7 @@ 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,
+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);
@@ -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++) {
+  for (size_t i=0; i < vec.size(); i++) {
-    if (vec[i]!=def[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;
   }