Alessio Quaglino
cc85a38f3c
PiperOrigin-RevId: 617207000 Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
39 lines
1.3 KiB
C++
39 lines
1.3 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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#ifndef MUJOCO_SRC_XML_XML_H_
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#define MUJOCO_SRC_XML_XML_H_
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#include <string>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include "user/user_api.h"
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// Top level API
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// Main writer function
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std::string mjWriteXML(mjSpec* model, char* error, int error_sz);
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// Main parser function
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MJAPI mjSpec* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
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// Returns a newly-allocated mjSpec, loaded from the contents of xml.
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// On failure returns nullptr and populates the error array if present.
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MJAPI mjSpec* ParseSpecFromString(std::string_view xml, char* error = nullptr,
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int error_size = 0, mjVFS* vfs = nullptr);
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#endif // MUJOCO_SRC_XML_XML_H_
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