Haroon Qureshi
7ba0d96d77
PiperOrigin-RevId: 824982264 Change-Id: I0d8760bb27153849c8f4dacb10aa3162f29c2f6e
67 lines
2.5 KiB
C++
67 lines
2.5 KiB
C++
// Copyright 2025 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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// Standalone functions used by Simulate.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_HELPERS_H_
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#define MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_HELPERS_H_
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#include <cstddef>
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#include <functional>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <mujoco/mjrender.h>
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#include <mujoco/mujoco.h>
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namespace mujoco::toolbox {
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// Function signature for loading assets from a given path.
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using LoadAssetFn = std::function<std::vector<std::byte>(std::string_view)>;
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// Save/load for simple ascii files.
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void SaveText(const std::string& contents, const std::string& filename);
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std::string LoadText(const std::string& filename);
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// Exports the given color buffer to a webp file.
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void SaveColorToWebp(int width, int height, const unsigned char* data,
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const std::string& filename);
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// Exports the given depth buffer to a webp file.
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void SaveDepthToWebp(int width, int height, const float* data,
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const std::string& filename);
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// Exports the current state of the mjrContext to a webp file.
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void SaveScreenshotToWebp(int width, int height, mjrContext* con,
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const std::string& filename);
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// Loads a MuJoCo model from the given file.
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mjModel* LoadMujocoModel(const std::string& model_file, const mjVFS* vfs);
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// Returns a pointer to the value of the given field in the given data.
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// Returns nullptr if the field is not found or the index is out of bounds.
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const void* GetValue(const mjModel* model, const mjData* data,
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const char* field, int index);
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// Returns an XML string representation of the camera.
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std::string CameraToString(const mjData* data, const mjvCamera* camera);
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// Returns an XML string representation of current data keyframe.
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std::string KeyframeToString(const mjModel* model, const mjData* data,
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bool full_precision = false);
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} // namespace mujoco::toolbox
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#endif // MUJOCO_SRC_EXPERIMENTAL_TOOLBOX_HELPERS_H_
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