Alessio Quaglino
84ad22a590
Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input. PiperOrigin-RevId: 765393821 Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
78 lines
1.9 KiB
C++
78 lines
1.9 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "xml/xml_base.h"
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#include <cfloat>
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#include <cstddef>
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#include <iostream>
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#include <sstream>
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#include <string>
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#include <vector>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjspec.h>
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#include "xml/xml_util.h"
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#include "tinyxml2.h"
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namespace {
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using std::string;
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using tinyxml2::XMLElement;
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} // namespace
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//--------------------------------- Base class, helper functions -----------------------------------
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// base constructor
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mjXBase::mjXBase() {
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spec = NULL;
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}
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// set model field
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void mjXBase::SetModel(mjSpec* _model, const mjModel* m) {
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spec = _model;
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}
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// read alternative orientation specification
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int mjXBase::ReadAlternative(XMLElement* elem, mjsOrientation& alt) {
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string text;
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int numspec = (int)(elem->Attribute("quat") != 0);
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if (ReadAttr(elem, "axisangle", 4, alt.axisangle, text)) {
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numspec++;
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alt.type = mjORIENTATION_AXISANGLE;
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}
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if (ReadAttr(elem, "xyaxes", 6, alt.xyaxes, text)) {
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numspec++;
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alt.type = mjORIENTATION_XYAXES;
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}
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if (ReadAttr(elem, "zaxis", 3, alt.zaxis, text)) {
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numspec++;
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alt.type = mjORIENTATION_ZAXIS;
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}
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if (ReadAttr(elem, "euler", 3, alt.euler, text)) {
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numspec++;
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alt.type = mjORIENTATION_EULER;
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}
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if (numspec > 1) {
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throw mjXError(elem, "multiple orientation specifiers are not allowed");
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}
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return numspec;
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}
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