Levi Burner
61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
// Copyright 2022 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_PYTHON_RAW_H_
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#define MUJOCO_PYTHON_RAW_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjvisualize.h>
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// Type aliases for MuJoCo C structs to allow us refer to consistently refer
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// to them under the "raw" namespace.
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namespace mujoco::raw {
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using MjContact = ::mjContact;
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using MjData = ::mjData;
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using MjLROpt = ::mjLROpt;
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using MjModel = ::mjModel;
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using MjOption = ::mjOption;
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using MjSolverStat = ::mjSolverStat;
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using MjStatistic = ::mjStatistic;
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using MjTimerStat = ::mjTimerStat;
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using MjVisual = ::mjVisual;
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using MjVisualGlobal = decltype(::mjVisual::global);
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using MjVisualQuality = decltype(::mjVisual::quality);
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using MjVisualHeadlight = decltype(::mjVisual::headlight);
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using MjVisualMap = decltype(::mjVisual::map);
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using MjVisualScale = decltype(::mjVisual::scale);
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using MjVisualRgba = decltype(::mjVisual::rgba);
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using MjWarningStat = ::mjWarningStat;
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// From mjrender.h
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using MjrRect = ::mjrRect;
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using MjrContext = ::mjrContext;
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// From mjvisualize.h
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using MjvPerturb = ::mjvPerturb;
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using MjvCamera = ::mjvCamera;
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using MjvGLCamera = ::mjvGLCamera;
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using MjvGeom = ::mjvGeom;
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using MjvLight = ::mjvLight;
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using MjvOption = ::mjvOption;
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using MjvScene = ::mjvScene;
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using MjvFigure = ::mjvFigure;
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} // namespace mujoco::raw
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#endif // MUJOCO_PYTHON_RAW_H_
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