Tom Erez
78 lines
2.4 KiB
C#
78 lines
2.4 KiB
C#
// Copyright 2019 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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using System;
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using System.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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public class MjBodyVectorSensor : MjBaseSensor {
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// NOTE: These names must match sensor names listed on mujoco.org.
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// Changing them is justified only when Mujoco is upgraded to a new version.
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public enum AvailableSensors {
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SubtreeCom,
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SubtreeLinVel,
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SubtreeAngMom,
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FramePos,
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FrameXAxis,
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FrameYAxis,
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FrameZAxis,
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FrameLinVel,
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FrameAngVel,
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FrameLinAcc,
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FrameAngAcc,
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}
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public AvailableSensors SensorType;
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public MjBody Body;
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[Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
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public bool UseInertialFrame;
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public Vector3 SensorReading { get; private set; }
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protected override XmlElement ToMjcf(XmlDocument doc) {
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if (Body == null) {
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throw new NullReferenceException("Missing a reference to a MjBody.");
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}
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var tag = SensorType.ToString().ToLower();
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var mjcf = doc.CreateElement(tag);
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if (tag.Contains("frame")) {
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mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
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mjcf.SetAttribute("objname", Body.MujocoName);
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} else {
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mjcf.SetAttribute("body", Body.MujocoName);
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}
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return mjcf;
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}
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protected override void FromMjcf(XmlElement mjcf) {
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if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
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throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
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}
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if (mjcf.Name.Contains("frame")) {
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UseInertialFrame = mjcf.HasAttribute("body"); // as opposed to xbody
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Body = mjcf.GetObjectReferenceAttribute<MjBody>("objname");
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} else {
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Body = mjcf.GetObjectReferenceAttribute<MjBody>("body");
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}
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}
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public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
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SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
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}
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}
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}
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