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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_reader.cc
+39 -38
View File
@@ -48,20 +48,21 @@
namespace { namespace {
using std::string; using std::string;
using std::string_view;
using std::vector; using std::vector;
using mujoco::user::FilePath; using mujoco::user::FilePath;
using tinyxml2::XMLElement; using tinyxml2::XMLElement;
void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjsPlugin* p) { void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjsPlugin* p) {
std::map<std::string, std::string, std::less<>> config_attribs; std::map<string, string, std::less<>> config_attribs;
XMLElement* child = FirstChildElement(elem); XMLElement* child = FirstChildElement(elem);
while (child) { while (child) {
std::string_view name = child->Value(); string_view name = child->Value();
if (name == "config") { if (name == "config") {
std::string key, value; string key, value;
mjXUtil::ReadAttrTxt(child, "key", key, /* required = */ true); mjXUtil::ReadAttrTxt(child, "key", key, /* required = */ true);
if (config_attribs.find(key) != config_attribs.end()) { if (config_attribs.find(key) != config_attribs.end()) {
std::string err = "duplicate config key: " + key; string err = "duplicate config key: " + key;
throw mjXError(child, "%s", err.c_str()); throw mjXError(child, "%s", err.c_str());
} }
mjXUtil::ReadAttrTxt(child, "value", value, /* required = */ true); mjXUtil::ReadAttrTxt(child, "value", value, /* required = */ true);
@@ -79,10 +80,10 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjsPlugin* p) {
} }
} }
static void UpdateString(std::string& psuffix, int count, int i) { static void UpdateString(string& psuffix, int count, int i) {
int ndigits = std::to_string(count).length(); int ndigits = std::to_string(count).length();
std::string i_string = std::to_string(i); string i_string = std::to_string(i);
std::string prefix = ""; string prefix = "";
while (ndigits-- > i_string.length()) { while (ndigits-- > i_string.length()) {
prefix += '0'; prefix += '0';
} }
@@ -996,7 +997,7 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
mjs_setString(spec->texturedir, text.c_str()); mjs_setString(spec->texturedir, text.c_str());
} }
// meshdir and texturedir take precedence over assetdir // meshdir and texturedir take precedence over assetdir
std::string meshdir, texturedir; string meshdir, texturedir;
if (ReadAttrTxt(section, "meshdir", meshdir)) { if (ReadAttrTxt(section, "meshdir", meshdir)) {
mjs_setString(spec->meshdir, meshdir.c_str()); mjs_setString(spec->meshdir, meshdir.c_str());
}; };
@@ -1157,11 +1158,11 @@ void mjXReader::Size(XMLElement* section, mjSpec* spec) {
} }
// trim entire string // trim entire string
std::string trimmed; string trimmed;
{ {
std::istringstream strm((std::string(pstr))); std::istringstream strm((string(pstr)));
strm >> trimmed; strm >> trimmed;
std::string trailing; string trailing;
strm >> trailing; strm >> trailing;
if (!trailing.empty() || !strm.eof()) { if (!trailing.empty() || !strm.eof()) {
throw mjXError(section, "%s", err_msg); throw mjXError(section, "%s", err_msg);
@@ -1649,7 +1650,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjsJoint* joint) {
void mjXReader::OneGeom(XMLElement* elem, mjsGeom* geom) { void mjXReader::OneGeom(XMLElement* elem, mjsGeom* geom) {
string text, name; string text, name;
std::vector<double> userdata; std::vector<double> userdata;
std::string hfieldname, meshname, material; string hfieldname, meshname, material;
int n; int n;
// read attributes // read attributes
@@ -1722,7 +1723,7 @@ void mjXReader::OneSite(XMLElement* elem, mjsSite* site) {
int n; int n;
string text, name; string text, name;
std::vector<double> userdata; std::vector<double> userdata;
std::string material; string material;
// read attributes // read attributes
if (ReadAttrTxt(elem, "name", name)) { if (ReadAttrTxt(elem, "name", name)) {
@@ -2328,7 +2329,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsDefault* def) {
} }
// cable // cable
std::string curves; string curves;
ReadAttrTxt(elem, "curve", curves); ReadAttrTxt(elem, "curve", curves);
ReadAttrTxt(elem, "initial", comp.initial); ReadAttrTxt(elem, "initial", comp.initial);
ReadAttr(elem, "size", 3, comp.size, text, false, false); ReadAttr(elem, "size", 3, comp.size, text, false, false);
@@ -2381,7 +2382,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsDefault* def) {
// geom // geom
XMLElement* egeom = FirstChildElement(elem, "geom"); XMLElement* egeom = FirstChildElement(elem, "geom");
if (egeom) { if (egeom) {
std::string material; string material;
mjsGeom& dgeom = *comp.def[0].spec.geom; mjsGeom& dgeom = *comp.def[0].spec.geom;
if (MapValue(egeom, "type", &n, geom_map, mjNGEOMTYPES)) { if (MapValue(egeom, "type", &n, geom_map, mjNGEOMTYPES)) {
dgeom.type = (mjtGeom)n; dgeom.type = (mjtGeom)n;
@@ -2409,7 +2410,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsDefault* def) {
// site // site
XMLElement* esite = FirstChildElement(elem, "site"); XMLElement* esite = FirstChildElement(elem, "site");
if (esite) { if (esite) {
std::string material; string material;
mjsSite& dsite = *comp.def[0].spec.site; mjsSite& dsite = *comp.def[0].spec.site;
ReadAttr(esite, "size", 3, dsite.size, text, false, false); ReadAttr(esite, "size", 3, dsite.size, text, false, false);
ReadAttrInt(esite, "group", &dsite.group); ReadAttrInt(esite, "group", &dsite.group);
@@ -2486,7 +2487,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsDefault* def) {
ReadAttr(eten, "solimpfix", mjNIMP, dequality.solimp, text, false, false); ReadAttr(eten, "solimpfix", mjNIMP, dequality.solimp, text, false, false);
// tendon attributes // tendon attributes
std::string material; string material;
MapValue(elem, "limited", &dtendon.limited, TFAuto_map, 3); MapValue(elem, "limited", &dtendon.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &dtendon.group); ReadAttrInt(eten, "group", &dtendon.group);
ReadAttr(eten, "solreflimit", mjNREF, dtendon.solref_limit, text, false, false); ReadAttr(eten, "solreflimit", mjNREF, dtendon.solref_limit, text, false, false);
@@ -2672,8 +2673,8 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
// add plugin // add plugin
void mjXReader::OnePlugin(XMLElement* elem, mjsPlugin* plugin) { void mjXReader::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
plugin->active = true; plugin->active = true;
std::string name = ""; string name = "";
std::string instance_name = ""; string instance_name = "";
ReadAttrTxt(elem, "plugin", name); ReadAttrTxt(elem, "plugin", name);
ReadAttrTxt(elem, "instance", instance_name); ReadAttrTxt(elem, "instance", instance_name);
mjs_setString(plugin->name, name.c_str()); mjs_setString(plugin->name, name.c_str());
@@ -2793,10 +2794,10 @@ void mjXReader::Extension(XMLElement* section) {
while (elem) { while (elem) {
// get sub-element name // get sub-element name
std::string_view name = elem->Value(); string_view name = elem->Value();
if (name == "plugin") { if (name == "plugin") {
std::string plugin_name; string plugin_name;
int plugin_slot = -1; int plugin_slot = -1;
ReadAttrTxt(elem, "plugin", plugin_name, /* required = */ true); ReadAttrTxt(elem, "plugin", plugin_name, /* required = */ true);
const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot); const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
@@ -2817,7 +2818,7 @@ void mjXReader::Extension(XMLElement* section) {
XMLElement* child = FirstChildElement(elem); XMLElement* child = FirstChildElement(elem);
while (child) { while (child) {
if (std::string(child->Value())=="instance") { if (string(child->Value())=="instance") {
if (spec->hasImplicitPluginElem) { if (spec->hasImplicitPluginElem) {
throw mjXError( throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements"); child, "explicit plugin instance must appear before implicit plugin elements");
@@ -2925,7 +2926,7 @@ void mjXReader::Custom(XMLElement* section) {
// read objects and add // read objects and add
XMLElement* obj = FirstChildElement(elem); XMLElement* obj = FirstChildElement(elem);
std::vector<int> objtype; std::vector<int> objtype;
std::string objname = ""; string objname = "";
std::vector<double> objprm; std::vector<double> objprm;
while (obj) { while (obj) {
@@ -3178,8 +3179,8 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
} }
// separate files // separate files
std::vector<std::string> cubefiles(6); std::vector<string> cubefiles(6);
std::vector<std::string> cubefile_names = {"fileright", "fileleft", std::vector<string> cubefile_names = {"fileright", "fileleft",
"fileup", "filedown", "fileup", "filedown",
"filefront", "fileback"}; "filefront", "fileback"};
for (int i = 0; i < cubefiles.size(); i++) { for (int i = 0; i < cubefiles.size(); i++) {
@@ -3285,7 +3286,7 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
} }
// overwrite model name if given // overwrite model name if given
std::string modelname = ""; string modelname = "";
if (ReadAttrTxt(elem, "name", modelname)) { if (ReadAttrTxt(elem, "name", modelname)) {
mjs_setString(child->modelname, modelname.c_str()); mjs_setString(child->modelname, modelname.c_str());
} }
@@ -3376,7 +3377,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
mjs_setDefault(joint->element, def); mjs_setDefault(joint->element, def);
// read attributes // read attributes
std::string name; string name;
if (ReadAttrTxt(elem, "name", name)) { if (ReadAttrTxt(elem, "name", name)) {
mjs_setString(joint->name, name.c_str()); mjs_setString(joint->name, name.c_str());
} }
@@ -3450,7 +3451,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
mjs_setDefault(pframe->element, childdef ? childdef : def); mjs_setDefault(pframe->element, childdef ? childdef : def);
// read attributes // read attributes
std::string name, childclass; string name, childclass;
if (ReadAttrTxt(elem, "name", name)) { if (ReadAttrTxt(elem, "name", name)) {
mjs_setString(pframe->name, name.c_str()); mjs_setString(pframe->name, name.c_str());
} }
@@ -3469,7 +3470,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
int count; int count;
double offset[3] = {0, 0, 0}; double offset[3] = {0, 0, 0};
double euler[3] = {0, 0, 0}; double euler[3] = {0, 0, 0};
std::string separator = ""; string separator = "";
ReadAttr(elem, "count", 1, &count, text, true); ReadAttr(elem, "count", 1, &count, text, true);
ReadAttr(elem, "offset", 3, offset, text); ReadAttr(elem, "offset", 3, offset, text);
ReadAttr(elem, "euler", 3, euler, text); ReadAttr(elem, "euler", 3, euler, text);
@@ -3520,7 +3521,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]); mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]);
// process suffix // process suffix
std::string suffix = separator; string suffix = separator;
UpdateString(suffix, count, i); UpdateString(suffix, count, i);
// attach to parent // attach to parent
@@ -3547,13 +3548,13 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// create child body // create child body
mjsBody* child = mjs_addBody(body, childdef); mjsBody* child = mjs_addBody(body, childdef);
mjs_setString(child->info, std::string("line " + std::to_string(elem->GetLineNum())).c_str()); mjs_setString(child->info, string("line " + std::to_string(elem->GetLineNum())).c_str());
// set default from class or childclass // set default from class or childclass
mjs_setDefault(child->element, childdef ? childdef : def); mjs_setDefault(child->element, childdef ? childdef : def);
// read attributes // read attributes
std::string name, childclass; string name, childclass;
if (ReadAttrTxt(elem, "name", name)) { if (ReadAttrTxt(elem, "name", name)) {
mjs_setString(child->name, name.c_str()); mjs_setString(child->name, name.c_str());
} }
@@ -3584,7 +3585,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// attachment // attachment
else if (name=="attach") { else if (name=="attach") {
std::string model_name, body_name, prefix; string model_name, body_name, prefix;
ReadAttrTxt(elem, "model", model_name); ReadAttrTxt(elem, "model", model_name);
ReadAttrTxt(elem, "body", body_name); ReadAttrTxt(elem, "body", body_name);
ReadAttrTxt(elem, "prefix", prefix); ReadAttrTxt(elem, "prefix", prefix);
@@ -4232,26 +4233,26 @@ mjsDefault* mjXReader::GetClass(XMLElement* section) {
if (!def) { if (!def) {
throw mjXError( throw mjXError(
section, section,
std::string("unknown default class name '" + text + "'").c_str()); string("unknown default class name '" + text + "'").c_str());
} }
} }
return def; return def;
} }
void mjXReader::SetModelFileDir(const std::string& modelfiledir) { void mjXReader::SetModelFileDir(const string& modelfiledir) {
modelfiledir_ = FilePath(modelfiledir); modelfiledir_ = FilePath(modelfiledir);
} }
void mjXReader::SetAssetDir(const std::string& assetdir) { void mjXReader::SetAssetDir(const string& assetdir) {
assetdir_ = FilePath(assetdir); assetdir_ = FilePath(assetdir);
} }
void mjXReader::SetMeshDir(const std::string& meshdir) { void mjXReader::SetMeshDir(const string& meshdir) {
meshdir_ = FilePath(meshdir); meshdir_ = FilePath(meshdir);
} }
void mjXReader::SetTextureDir(const std::string& texturedir) { void mjXReader::SetTextureDir(const string& texturedir) {
texturedir_ = FilePath(texturedir); texturedir_ = FilePath(texturedir);
} }
src/xml/xml_native_writer.cc
+50 -52
View File
@@ -39,6 +39,8 @@
namespace { namespace {
using std::string;
using std::string_view;
using tinyxml2::XMLComment; using tinyxml2::XMLComment;
using tinyxml2::XMLDocument; using tinyxml2::XMLDocument;
using tinyxml2::XMLElement; using tinyxml2::XMLElement;
@@ -62,7 +64,7 @@ class mj_XMLPrinter : public tinyxml2::XMLPrinter {
// save XML file using custom 2-space indentation // 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(); doc.ClearError();
mj_XMLPrinter stream(nullptr, /*compact=*/false); mj_XMLPrinter stream(nullptr, /*compact=*/false);
doc.Print(&stream); 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); mjCopyError(error, doc.ErrorStr(), error_sz);
return ""; return "";
} }
std::string str = std::string(stream.CStr()); string str = string(stream.CStr());
// top level sections // top level sections
std::array<std::string, 17> sections = { std::array<string, 17> sections = {
"<actuator", "<asset", "<compiler", "<contact", "<custom", "<actuator", "<asset", "<compiler", "<contact", "<custom",
"<default>", "<deformable", "<equality", "<extension", "<keyframe", "<default>", "<deformable", "<equality", "<extension", "<keyframe",
"<option", "<sensor", "<size", "<statistic", "<tendon", "<option", "<sensor", "<size", "<statistic", "<tendon",
"<visual", "<worldbody"}; "<visual", "<worldbody"};
// position of newline before first section // position of newline before first section
size_t first_pos = std::string::npos; size_t first_pos = string::npos;
// insert newlines before section headers // insert newlines before section headers
for (const std::string& section : sections) { for (const string& section : sections) {
std::size_t pos = 0; 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 // find newline before this section
std::size_t line_pos = str.rfind('\n', pos); 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; if (line_pos < first_pos) first_pos = line_pos;
// insert another newline // insert another newline
if (line_pos != std::string::npos) { if (line_pos != string::npos) {
str.insert(line_pos + 1, "\n"); str.insert(line_pos + 1, "\n");
pos++; // account for inserted newline 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 // remove added newline before the first section
if (first_pos != std::string::npos) { if (first_pos != string::npos) {
str.erase(first_pos, 1); str.erase(first_pos, 1);
} }
@@ -125,7 +127,7 @@ XMLElement* mjXWriter::InsertEnd(XMLElement* parent, const char* name) {
// write flex // write flex
void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) { void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
std::string text; string text;
mjCFlex defflex; mjCFlex defflex;
// common attributes // common attributes
@@ -193,7 +195,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
// write mesh // write mesh
void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) { void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
std::string text; string text;
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
@@ -241,7 +243,7 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
// write skin // write skin
void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* skin) { void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* skin) {
std::string text; string text;
mjCDef mydef; mjCDef mydef;
float zero = 0; float zero = 0;
@@ -333,7 +335,7 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* material, mjCDe
// write joint // write joint
void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def, void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
std::string_view classname) { string_view classname) {
double zero = 0; double zero = 0;
// regular // regular
@@ -384,8 +386,7 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
} }
// write geom // write geom
void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, string_view classname) {
std::string_view classname) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
double mass = 0; double mass = 0;
@@ -480,8 +481,7 @@ void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def,
} }
// write site // write site
void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def, void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def, string_view classname) {
std::string_view classname) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
// regular // regular
@@ -517,7 +517,7 @@ void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def,
// write camera // write camera
void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def, void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def,
std::string_view classname) { string_view classname) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
// regular // regular
@@ -558,7 +558,7 @@ void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def
// write light // write light
void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def, void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
std::string_view classname) { string_view classname) {
// regular // regular
if (!writingdefaults) { if (!writingdefaults) {
WriteAttrTxt(elem, "name", light->name); WriteAttrTxt(elem, "name", light->name);
@@ -803,8 +803,8 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDe
// write plugin // write plugin
void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) { void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) {
const std::string instance_name = std::string(mjs_getString(plugin->instance_name)); const string instance_name = string(mjs_getString(plugin->instance_name));
const std::string plugin_name = std::string(mjs_getString(plugin->name)); const string plugin_name = string(mjs_getString(plugin->name));
if (!instance_name.empty()) { if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name); WriteAttrTxt(elem, "instance", instance_name);
} else { } else {
@@ -813,7 +813,7 @@ void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) {
static_cast<mjCPlugin*>(plugin->instance)->spec.plugin_slot); static_cast<mjCPlugin*>(plugin->instance)->spec.plugin_slot);
const char* c = &(static_cast<mjCPlugin*>(plugin->instance)->flattened_attributes[0]); const char* c = &(static_cast<mjCPlugin*>(plugin->instance)->flattened_attributes[0]);
for (int i = 0; i < pplugin->nattribute; ++i) { for (int i = 0; i < pplugin->nattribute; ++i) {
std::string value(c); string value(c);
if (!value.empty()) { if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config"); XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", pplugin->attributes[i]); 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 // 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 // check model
if (!model || !model->IsCompiled()) { if (!model || !model->IsCompiled()) {
mjCopyError(error, "XML Write error: Only compiled model can be written", error_sz); 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); doc.InsertFirstChild(root);
// write comment if present // write comment if present
std::string text = mjs_getString(model->comment); string text = mjs_getString(model->comment);
if (!text.empty()) { if (!text.empty()) {
XMLComment* comment = doc.NewComment(text.c_str()); XMLComment* comment = doc.NewComment(text.c_str());
root->LinkEndChild(comment); root->LinkEndChild(comment);
@@ -1332,7 +1332,7 @@ void mjXWriter::Extension(XMLElement* root) {
// write plugin config attributes // write plugin config attributes
const char* c = &pp->flattened_attributes[0]; const char* c = &pp->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) { for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c); string value(c);
if (!value.empty()) { if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config"); XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", plugin->attributes[i]); WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
@@ -1525,7 +1525,7 @@ void mjXWriter::Asset(XMLElement* root) {
WriteAttrInt(elem, "nrow", hfield->nrow); WriteAttrInt(elem, "nrow", hfield->nrow);
WriteAttrInt(elem, "ncol", hfield->ncol); WriteAttrInt(elem, "ncol", hfield->ncol);
if (!hfield->get_userdata().empty()) { if (!hfield->get_userdata().empty()) {
std::string text; string text;
Vector2String(text, hfield->get_userdata(), hfield->ncol); Vector2String(text, hfield->get_userdata(), hfield->ncol);
WriteAttrTxt(elem, "elevation", text); WriteAttrTxt(elem, "elevation", text);
} }
@@ -1555,8 +1555,7 @@ XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
// recursive body and frame writer // recursive body and frame writer
void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_view childclass) {
std::string_view childclass) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
if (!body) { if (!body) {
@@ -1587,8 +1586,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
WriteVector(elem, "user", body->get_userdata()); WriteVector(elem, "user", body->get_userdata());
// write inertial // write inertial
if (body->explicitinertial && if (body->explicitinertial && model->inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
model->inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
XMLElement* inertial = InsertEnd(elem, "inertial"); XMLElement* inertial = InsertEnd(elem, "inertial");
WriteAttr(inertial, "pos", 3, body->ipos); WriteAttr(inertial, "pos", 3, body->ipos);
WriteAttr(inertial, "quat", 4, body->iquat, unitq); 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) { if (body->joints[i]->frame != frame) {
continue; continue;
} }
std::string classname = body->joints[i]->frame && !body->joints[i]->frame->classname.empty() string classname = body->joints[i]->frame && !body->joints[i]->frame->classname.empty()
? body->joints[i]->frame->classname ? body->joints[i]->frame->classname
: body->classname; : body->classname;
OneJoint(InsertEnd(elem, "joint"), body->joints[i], OneJoint(InsertEnd(elem, "joint"), body->joints[i],
model->def_map[body->joints[i]->classname], model->def_map[body->joints[i]->classname],
classname.empty() ? childclass : classname); classname.empty() ? childclass : classname);
@@ -1615,9 +1613,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->geoms[i]->frame != frame) { if (body->geoms[i]->frame != frame) {
continue; continue;
} }
std::string classname = body->geoms[i]->frame && !body->geoms[i]->frame->classname.empty() string classname = body->geoms[i]->frame && !body->geoms[i]->frame->classname.empty()
? body->geoms[i]->frame->classname ? body->geoms[i]->frame->classname
: body->classname; : body->classname;
OneGeom(InsertEnd(elem, "geom"), body->geoms[i], OneGeom(InsertEnd(elem, "geom"), body->geoms[i],
model->def_map[body->geoms[i]->classname], model->def_map[body->geoms[i]->classname],
classname.empty() ? childclass : classname); classname.empty() ? childclass : classname);
@@ -1628,9 +1626,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->sites[i]->frame != frame) { if (body->sites[i]->frame != frame) {
continue; continue;
} }
std::string classname = body->sites[i]->frame && !body->sites[i]->frame->classname.empty() string classname = body->sites[i]->frame && !body->sites[i]->frame->classname.empty()
? body->sites[i]->frame->classname ? body->sites[i]->frame->classname
: body->classname; : body->classname;
OneSite(InsertEnd(elem, "site"), body->sites[i], OneSite(InsertEnd(elem, "site"), body->sites[i],
model->def_map[body->sites[i]->classname], model->def_map[body->sites[i]->classname],
classname.empty() ? childclass : classname); classname.empty() ? childclass : classname);
@@ -1641,9 +1639,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->cameras[i]->frame != frame) { if (body->cameras[i]->frame != frame) {
continue; continue;
} }
std::string classname = body->cameras[i]->frame && !body->cameras[i]->frame->classname.empty() string classname = body->cameras[i]->frame && !body->cameras[i]->frame->classname.empty()
? body->cameras[i]->frame->classname ? body->cameras[i]->frame->classname
: body->classname; : body->classname;
OneCamera(InsertEnd(elem, "camera"), body->cameras[i], OneCamera(InsertEnd(elem, "camera"), body->cameras[i],
model->def_map[body->cameras[i]->classname], model->def_map[body->cameras[i]->classname],
classname.empty() ? childclass : classname); classname.empty() ? childclass : classname);
@@ -1654,9 +1652,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame,
if (body->lights[i]->frame != frame) { if (body->lights[i]->frame != frame) {
continue; continue;
} }
std::string classname = body->lights[i]->frame && !body->lights[i]->frame->classname.empty() string classname = body->lights[i]->frame && !body->lights[i]->frame->classname.empty()
? body->lights[i]->frame->classname ? body->lights[i]->frame->classname
: body->classname; : body->classname;
OneLight(InsertEnd(elem, "light"), body->lights[i], OneLight(InsertEnd(elem, "light"), body->lights[i],
model->def_map[body->lights[i]->classname], model->def_map[body->lights[i]->classname],
classname.empty() ? childclass : 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 // write body if its frame matches the current frame, avoid access if there are no bodies
if (bframe == frame && !body->bodies.empty()) { if (bframe == frame && !body->bodies.empty()) {
std::string classname = bframe && !bframe->classname.empty() string classname = bframe && !bframe->classname.empty()
? bframe->classname ? bframe->classname
: body->classname; : body->classname;
Body(InsertEnd(elem, "body"), body->bodies[i], nullptr, Body(InsertEnd(elem, "body"), body->bodies[i], nullptr,
classname.empty() ? childclass : classname); 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 // write frame if its frame matches the current frame
if (fframe->frame == frame) { if (fframe->frame == frame) {
std::string classname = fframe && !fframe->classname.empty() string classname = fframe && !fframe->classname.empty()
? fframe->classname ? fframe->classname
: body->classname; : body->classname;
Body(OneFrame(elem, fframe), body, fframe, childclass); Body(OneFrame(elem, fframe), body, fframe, childclass);
} }
@@ -1914,8 +1912,8 @@ void mjXWriter::Sensor(XMLElement* root) {
for (int i=0; i<num; i++) { for (int i=0; i<num; i++) {
XMLElement* elem = 0; XMLElement* elem = 0;
mjCSensor* sensor = model->Sensors()[i]; mjCSensor* sensor = model->Sensors()[i];
std::string instance_name = ""; string instance_name = "";
std::string plugin_name = ""; string plugin_name = "";
// write sensor type and type-specific attributes // write sensor type and type-specific attributes
switch (sensor->type) { switch (sensor->type) {