Alessio Quaglino
16baac9353
- Applies to [orientation specifiers](https://mujoco.readthedocs.io/en/latest/modeling.html#frame-orientations) in `body`, `inertial`, `geom`, `site`, `camera`. - Before this change the check was done only for multiple *alternative* specifiers, but not for `quat` and an alternative specifier. - Moved the check from the compiler to the parser. - Added tests. PiperOrigin-RevId: 453201981 Change-Id: I20907361f211dae904e734cd083e9df0efe4f654
64 lines
1.8 KiB
C++
64 lines
1.8 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 "user/user_model.h"
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#include "user/user_objects.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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model = NULL;
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}
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// set model field
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void mjXBase::SetModel(mjCModel* _model) {
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model = _model;
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}
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// read alternative orientation specification
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void mjXBase::ReadAlternative(XMLElement* elem, mjCAlternative& alt) {
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string text;
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int read = (int)(elem->Attribute("quat") != 0) +
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(ReadAttr(elem, "axisangle", 4, alt.axisangle, text) ? 1 : 0) +
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(ReadAttr(elem, "xyaxes", 6, alt.xyaxes, text) ? 1 : 0) +
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(ReadAttr(elem, "zaxis", 3, alt.zaxis, text) ? 1 : 0) +
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(ReadAttr(elem, "euler", 3, alt.euler, text) ? 1 : 0) +
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(ReadAttr(elem, "fullinertia", 6, alt.fullinertia, text) ? 1 : 0);
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if (read > 1)
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throw mjXError(elem, "multiple orientation specifiers for the same field are not allowed");
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}
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