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using for std::{string, string_view}, where helpful for readibility.

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PiperOrigin-RevId: 663707900
Change-Id: Icbea374d5f99c7d267140d83f541f0ee872de8c1
This commit is contained in:
Yuval Tassa
2024-08-16 06:13:51 -07:00
committed by Copybara-Service
parent e0e08aa597
commit f864108c23
2 changed files with 89 additions and 90 deletions
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src/xml/xml_native_writer.cc
+50 -52
View File
@@ -39,6 +39,8 @@
namespace {
using std::string;
using std::string_view;
using tinyxml2::XMLComment;
using tinyxml2::XMLDocument;
using tinyxml2::XMLElement;
@@ -62,7 +64,7 @@ class mj_XMLPrinter : public tinyxml2::XMLPrinter {
// save XML file using custom 2-space indentation
static std::string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
doc.ClearError();
mj_XMLPrinter stream(nullptr, /*compact=*/false);
doc.Print(&stream);
@@ -70,22 +72,22 @@ static std::string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
mjCopyError(error, doc.ErrorStr(), error_sz);
return "";
}
std::string str = std::string(stream.CStr());
string str = string(stream.CStr());
// top level sections
std::array<std::string, 17> sections = {
std::array<string, 17> sections = {
"<actuator", "<asset", "<compiler", "<contact", "<custom",
"<default>", "<deformable", "<equality", "<extension", "<keyframe",
"<option", "<sensor", "<size", "<statistic", "<tendon",
"<visual", "<worldbody"};
// position of newline before first section
size_t first_pos = std::string::npos;
size_t first_pos = string::npos;
// insert newlines before section headers
for (const std::string& section : sections) {
for (const string& section : sections) {
std::size_t pos = 0;
while ((pos = str.find(section, pos)) != std::string::npos) {
while ((pos = str.find(section, pos)) != string::npos) {
// find newline before this section
std::size_t line_pos = str.rfind('\n', pos);
@@ -93,7 +95,7 @@ static std::string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
if (line_pos < first_pos) first_pos = line_pos;
// insert another newline
if (line_pos != std::string::npos) {
if (line_pos != string::npos) {
str.insert(line_pos + 1, "\n");
pos++; // account for inserted newline
}
@@ -104,7 +106,7 @@ static std::string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
}
// remove added newline before the first section
if (first_pos != std::string::npos) {
if (first_pos != string::npos) {
str.erase(first_pos, 1);
}
@@ -125,7 +127,7 @@ XMLElement* mjXWriter::InsertEnd(XMLElement* parent, const char* name) {
// write flex
void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
std::string text;
string text;
mjCFlex defflex;
// common attributes
@@ -193,7 +195,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
// write mesh
void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
std::string text;
string text;
// regular
if (!writingdefaults) {
@@ -241,7 +243,7 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
// write skin
void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* skin) {
std::string text;
string text;
mjCDef mydef;
float zero = 0;
@@ -333,7 +335,7 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* material, mjCDe
// write joint
void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
std::string_view classname) {
string_view classname) {
double zero = 0;
// regular
@@ -384,8 +386,7 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
}
// write geom
void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def,
std::string_view classname) {
void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, string_view classname) {
double unitq[4] = {1, 0, 0, 0};
double mass = 0;
@@ -480,8 +481,7 @@ void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def,
}
// write site
void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def,
std::string_view classname) {
void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def, string_view classname) {
double unitq[4] = {1, 0, 0, 0};
// regular
@@ -517,7 +517,7 @@ void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def,
// write camera
void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def,
std::string_view classname) {
string_view classname) {
double unitq[4] = {1, 0, 0, 0};
// regular
@@ -558,7 +558,7 @@ void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def
// write light
void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
std::string_view classname) {
string_view classname) {
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "name", light->name);
@@ -803,8 +803,8 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDe
// write plugin
void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) {
const std::string instance_name = std::string(mjs_getString(plugin->instance_name));
const std::string plugin_name = std::string(mjs_getString(plugin->name));
const string instance_name = string(mjs_getString(plugin->instance_name));
const string plugin_name = string(mjs_getString(plugin->name));
if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name);
} else {
@@ -813,7 +813,7 @@ void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) {
static_cast<mjCPlugin*>(plugin->instance)->spec.plugin_slot);
const char* c = &(static_cast<mjCPlugin*>(plugin->instance)->flattened_attributes[0]);
for (int i = 0; i < pplugin->nattribute; ++i) {
std::string value(c);
string value(c);
if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", pplugin->attributes[i]);
@@ -844,7 +844,7 @@ void mjXWriter::SetModel(const mjSpec* spec) {
// save existing model in MJCF canonical format, must be compiled
std::string mjXWriter::Write(char *error, size_t error_sz) {
string mjXWriter::Write(char *error, size_t error_sz) {
// check model
if (!model || !model->IsCompiled()) {
mjCopyError(error, "XML Write error: Only compiled model can be written", error_sz);
@@ -860,7 +860,7 @@ std::string mjXWriter::Write(char *error, size_t error_sz) {
doc.InsertFirstChild(root);
// write comment if present
std::string text = mjs_getString(model->comment);
string text = mjs_getString(model->comment);
if (!text.empty()) {
XMLComment* comment = doc.NewComment(text.c_str());
root->LinkEndChild(comment);
@@ -1332,7 +1332,7 @@ void mjXWriter::Extension(XMLElement* root) {
// write plugin config attributes
const char* c = &pp->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
string value(c);
if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
@@ -1525,7 +1525,7 @@ void mjXWriter::Asset(XMLElement* root) {
WriteAttrInt(elem, "nrow", hfield->nrow);
WriteAttrInt(elem, "ncol", hfield->ncol);
if (!hfield->get_userdata().empty()) {
std::string text;
string text;
Vector2String(text, hfield->get_userdata(), hfield->ncol);
WriteAttrTxt(elem, "elevation", text);
}
@@ -1555,8 +1555,7 @@ XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
// recursive body and frame writer
void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
std::string_view childclass) {
void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_view childclass) {
double unitq[4] = {1, 0, 0, 0};
if (!body) {
@@ -1587,8 +1586,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
WriteVector(elem, "user", body->get_userdata());
// write inertial
if (body->explicitinertial &&
model->inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
if (body->explicitinertial && model->inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
XMLElement* inertial = InsertEnd(elem, "inertial");
WriteAttr(inertial, "pos", 3, body->ipos);
WriteAttr(inertial, "quat", 4, body->iquat, unitq);
@@ -1602,9 +1600,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->joints[i]->frame != frame) {
continue;
}
std::string classname = body->joints[i]->frame && !body->joints[i]->frame->classname.empty()
? body->joints[i]->frame->classname
: body->classname;
string classname = body->joints[i]->frame && !body->joints[i]->frame->classname.empty()
? body->joints[i]->frame->classname
: body->classname;
OneJoint(InsertEnd(elem, "joint"), body->joints[i],
model->def_map[body->joints[i]->classname],
classname.empty() ? childclass : classname);
@@ -1615,9 +1613,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->geoms[i]->frame != frame) {
continue;
}
std::string classname = body->geoms[i]->frame && !body->geoms[i]->frame->classname.empty()
? body->geoms[i]->frame->classname
: body->classname;
string classname = body->geoms[i]->frame && !body->geoms[i]->frame->classname.empty()
? body->geoms[i]->frame->classname
: body->classname;
OneGeom(InsertEnd(elem, "geom"), body->geoms[i],
model->def_map[body->geoms[i]->classname],
classname.empty() ? childclass : classname);
@@ -1628,9 +1626,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->sites[i]->frame != frame) {
continue;
}
std::string classname = body->sites[i]->frame && !body->sites[i]->frame->classname.empty()
? body->sites[i]->frame->classname
: body->classname;
string classname = body->sites[i]->frame && !body->sites[i]->frame->classname.empty()
? body->sites[i]->frame->classname
: body->classname;
OneSite(InsertEnd(elem, "site"), body->sites[i],
model->def_map[body->sites[i]->classname],
classname.empty() ? childclass : classname);
@@ -1641,9 +1639,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->cameras[i]->frame != frame) {
continue;
}
std::string classname = body->cameras[i]->frame && !body->cameras[i]->frame->classname.empty()
? body->cameras[i]->frame->classname
: body->classname;
string classname = body->cameras[i]->frame && !body->cameras[i]->frame->classname.empty()
? body->cameras[i]->frame->classname
: body->classname;
OneCamera(InsertEnd(elem, "camera"), body->cameras[i],
model->def_map[body->cameras[i]->classname],
classname.empty() ? childclass : classname);
@@ -1654,9 +1652,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->lights[i]->frame != frame) {
continue;
}
std::string classname = body->lights[i]->frame && !body->lights[i]->frame->classname.empty()
? body->lights[i]->frame->classname
: body->classname;
string classname = body->lights[i]->frame && !body->lights[i]->frame->classname.empty()
? body->lights[i]->frame->classname
: body->classname;
OneLight(InsertEnd(elem, "light"), body->lights[i],
model->def_map[body->lights[i]->classname],
classname.empty() ? childclass : classname);
@@ -1674,9 +1672,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
// write body if its frame matches the current frame, avoid access if there are no bodies
if (bframe == frame && !body->bodies.empty()) {
std::string classname = bframe && !bframe->classname.empty()
? bframe->classname
: body->classname;
string classname = bframe && !bframe->classname.empty()
? bframe->classname
: body->classname;
Body(InsertEnd(elem, "body"), body->bodies[i], nullptr,
classname.empty() ? childclass : classname);
}
@@ -1694,9 +1692,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
// write frame if its frame matches the current frame
if (fframe->frame == frame) {
std::string classname = fframe && !fframe->classname.empty()
? fframe->classname
: body->classname;
string classname = fframe && !fframe->classname.empty()
? fframe->classname
: body->classname;
Body(OneFrame(elem, fframe), body, fframe, childclass);
}
@@ -1914,8 +1912,8 @@ void mjXWriter::Sensor(XMLElement* root) {
for (int i=0; i<num; i++) {
XMLElement* elem = 0;
mjCSensor* sensor = model->Sensors()[i];
std::string instance_name = "";
std::string plugin_name = "";
string instance_name = "";
string plugin_name = "";
// write sensor type and type-specific attributes
switch (sensor->type) {