Delete testxml code sample.
PiperOrigin-RevId: 573202693 Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
d88675a034
commit
fb4cf472ed
@@ -86,15 +86,9 @@ target_compile_options(testspeed PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
|
||||
target_link_libraries(testspeed Threads::Threads)
|
||||
target_link_options(testspeed PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
|
||||
|
||||
add_executable(testxml testxml.cc array_safety.h)
|
||||
target_compile_options(testxml PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
|
||||
target_link_libraries(testxml Threads::Threads)
|
||||
target_link_options(testxml PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
|
||||
|
||||
target_link_libraries(compile mujoco::mujoco)
|
||||
target_link_libraries(derivative mujoco::mujoco)
|
||||
target_link_libraries(testspeed mujoco::mujoco)
|
||||
target_link_libraries(testxml mujoco::mujoco)
|
||||
|
||||
# Build samples that require GLFW.
|
||||
|
||||
@@ -124,7 +118,6 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
|
||||
embed_in_bundle(derivative simulate)
|
||||
embed_in_bundle(record simulate)
|
||||
embed_in_bundle(testspeed simulate)
|
||||
embed_in_bundle(testxml simulate)
|
||||
endif()
|
||||
|
||||
# Do not install if macOS Bundles are created as RPATH is managed manually there.
|
||||
@@ -144,7 +137,6 @@ if(_INSTALL_SAMPLES)
|
||||
derivative
|
||||
record
|
||||
testspeed
|
||||
testxml
|
||||
INSTALL_DIRECTORY
|
||||
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
|
||||
LIB_DIRS
|
||||
@@ -159,7 +151,6 @@ if(_INSTALL_SAMPLES)
|
||||
derivative
|
||||
record
|
||||
testspeed
|
||||
testxml
|
||||
EXPORT ${PROJECT_NAME}
|
||||
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
|
||||
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
|
||||
|
||||
@@ -6,7 +6,6 @@ COMMON=-O2 -I../include -L../lib -std=c++17 -pthread -Wl,-no-as-needed -Wl,-rpat
|
||||
|
||||
.PHONY: all
|
||||
all:
|
||||
$(CXX) $(COMMON) testxml.cc -lmujoco -o ../bin/testxml
|
||||
$(CXX) $(COMMON) testspeed.cc -lmujoco -o ../bin/testspeed
|
||||
$(CXX) $(COMMON) compile.cc -lmujoco -o ../bin/compile
|
||||
$(CXX) $(COMMON) derivative.cc -lmujoco -fopenmp -o ../bin/derivative
|
||||
|
||||
@@ -12,7 +12,6 @@ ALLFLAGS=$(CXXFLAGS) -L$(GLFWROOT)/lib -Wl,-rpath,$(MUJOCOPATH)
|
||||
|
||||
.PHONY: all
|
||||
all:
|
||||
clang++ $(ALLFLAGS) testxml.cc -framework mujoco -o testxml
|
||||
clang++ $(ALLFLAGS) testspeed.cc -framework mujoco -o testspeed
|
||||
clang++ $(ALLFLAGS) compile.cc -framework mujoco -o compile
|
||||
clang++ $(ALLFLAGS) derivative.cc -framework mujoco -o derivative
|
||||
|
||||
@@ -10,7 +10,6 @@ COMMON=/O2 /MT /EHsc /arch:AVX /I../include /Fe../bin/
|
||||
|
||||
.PHONY: all
|
||||
all:
|
||||
cl $(COMMON) testxml.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) testspeed.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) compile.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) derivative.cc /openmp ../lib/mujoco.lib
|
||||
|
||||
@@ -1,170 +0,0 @@
|
||||
// Copyright 2021 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdio>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
|
||||
#include <mujoco/mjxmacro.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
|
||||
#include "array_safety.h"
|
||||
namespace mju = ::mujoco::sample_util;
|
||||
|
||||
static constexpr int kFieldSize = 500;
|
||||
|
||||
// help
|
||||
const char helpstring[] = "\n Usage: testxml modelfile.xml\n";
|
||||
|
||||
|
||||
// deallocate and print message
|
||||
int finish(const char* msg = 0, mjModel* m = 0, mjData* d = 0) {
|
||||
// deallocated everything
|
||||
if (d) {
|
||||
mj_deleteData(d);
|
||||
}
|
||||
if (m) {
|
||||
mj_deleteModel(m);
|
||||
}
|
||||
|
||||
// print message
|
||||
if (msg) {
|
||||
std::printf("%s\n", msg);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// return absolute difference if it is below 1, relative difference otherwise
|
||||
static mjtNum _compare(mjtNum val1, mjtNum val2) {
|
||||
mjtNum magnitude = mju_max(mju_abs(val1), mju_abs(val2));
|
||||
|
||||
if (magnitude>1.0) {
|
||||
return mju_abs(val1-val2) / magnitude;
|
||||
} else {
|
||||
return mju_abs(val1-val2);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// compare two models, return largest difference and field name
|
||||
mjtNum compareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSize]) {
|
||||
int r, c;
|
||||
mjtNum dif, maxdif = 0.0;
|
||||
|
||||
// define symbols corresponding to number of columns (needed in MJMODEL_POINTERS)
|
||||
MJMODEL_POINTERS_PREAMBLE(m1);
|
||||
|
||||
// compare ints
|
||||
#define X(name) if(m1->name!=m2->name) {mju::strcpy_arr(field, #name); return 1.0;}
|
||||
|
||||
MJMODEL_INTS
|
||||
#undef X
|
||||
|
||||
// compare arrays
|
||||
#define X(type, name, nr, nc) \
|
||||
for( r=0; r<m1->nr; r++ ) \
|
||||
for( c=0; c<nc; c++ ) { \
|
||||
dif = _compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
|
||||
if(dif>maxdif) {maxdif=dif; mju::strcpy_arr(field, #name);} }
|
||||
|
||||
MJMODEL_POINTERS
|
||||
#undef X
|
||||
|
||||
// compare scalars in mjOption
|
||||
#define X(type, name) \
|
||||
dif = _compare(m1->opt.name, m2->opt.name); \
|
||||
if(dif>maxdif) {maxdif=dif; mju::strcpy_arr(field, #name);}
|
||||
|
||||
MJOPTION_SCALARS
|
||||
#undef X
|
||||
|
||||
// compare arrays in mjOption
|
||||
#define X(name, n) \
|
||||
for( c=0; c<n; c++ ) { \
|
||||
dif = _compare(m1->opt.name[c], m2->opt.name[c]); \
|
||||
if(dif>maxdif) {maxdif=dif; mju::strcpy_arr(field, #name);} }
|
||||
|
||||
MJOPTION_VECTORS
|
||||
#undef X
|
||||
|
||||
// mjVisual and mjStatistics ignored for now
|
||||
|
||||
return maxdif;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// main function
|
||||
int main(int argc, const char** argv) {
|
||||
// print help if arguments are missing
|
||||
if (argc<2) {
|
||||
return finish(helpstring);
|
||||
}
|
||||
|
||||
// get filename, check file type
|
||||
std::string filename(argv[1]);
|
||||
if (filename.find(".xml")==std::string::npos) {
|
||||
return finish("xml model file is required");
|
||||
}
|
||||
|
||||
// load model
|
||||
char error[1000];
|
||||
mjModel* m = mj_loadXML(argv[1], 0, error, 1000);
|
||||
if (!m) {
|
||||
return finish(error);
|
||||
}
|
||||
|
||||
// make data
|
||||
mjData* d = mj_makeData(m);
|
||||
if (!d) {
|
||||
return finish("Could not allocate mjData", m);
|
||||
}
|
||||
|
||||
// prepare temp filename in the same directory as original (for asset loading)
|
||||
std::string tempfile;
|
||||
std::size_t lastpath = filename.find_last_of("/\\");
|
||||
if (lastpath==std::string::npos) {
|
||||
tempfile = "_tempfile_.xml";
|
||||
} else {
|
||||
tempfile = filename.substr(0, lastpath+1) + "_tempfile_.xml";
|
||||
}
|
||||
|
||||
// save
|
||||
if (!mj_saveLastXML(tempfile.c_str(), m, error, 1000)) {
|
||||
return finish(error, m, d);
|
||||
}
|
||||
|
||||
// load back
|
||||
mjModel* mtemp = mj_loadXML(tempfile.c_str(), 0, error, 100);
|
||||
if (!mtemp) {
|
||||
return finish(error, m, d);
|
||||
}
|
||||
|
||||
// compare
|
||||
char field[kFieldSize] = "";
|
||||
mjtNum result = compareModel(m, mtemp, field);
|
||||
std::printf("\nComparison of original and saved model\n");
|
||||
std::printf(" Max difference : %.3g\n", result);
|
||||
std::printf(" Field name : %s\n", field);
|
||||
|
||||
// delete temp model and file
|
||||
mj_deleteModel(mtemp);
|
||||
remove(tempfile.c_str());
|
||||
|
||||
// finalize
|
||||
return finish();
|
||||
}
|
||||
Reference in New Issue
Block a user