Alessio Quaglino
31abd7900a
PiperOrigin-RevId: 675130981 Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
51 lines
1.4 KiB
C++
51 lines
1.4 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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#include "elasticity.h"
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#include <algorithm>
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#include <cassert>
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#include <cctype>
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#include <cstdlib>
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#include <sstream>
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#include <string>
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#include <vector>
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#include <mujoco/mujoco.h>
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namespace mujoco::plugin::elasticity {
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void String2Vector(const std::string& txt, std::vector<int>& vec) {
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std::stringstream strm(txt);
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vec.clear();
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while (!strm.eof()) {
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int num;
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strm >> num;
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if (strm.fail()) {
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break;
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} else {
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vec.push_back(num);
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}
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}
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}
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bool CheckAttr(const char* name, const mjModel* m, int instance) {
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char* end;
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std::string value = mj_getPluginConfig(m, instance, name);
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value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
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strtod(value.c_str(), &end);
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return end == value.data() + value.size();
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}
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} // namespace mujoco::plugin::elasticity
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