Alessio Quaglino
4f5da9c554
PiperOrigin-RevId: 525708657 Change-Id: I762de238f989b13877d5f9198c83c16ea9dc1d8b
77 lines
4.0 KiB
C++
77 lines
4.0 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_NATIVE_READER_H_
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#define MUJOCO_SRC_XML_XML_NATIVE_READER_H_
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#include <sstream>
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#include "user/user_model.h"
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#include "xml/xml_base.h"
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#include "tinyxml2.h"
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class mjXReader : public mjXBase {
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public:
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mjXReader(); // constructor
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virtual ~mjXReader() = default; // destructor
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void Parse(tinyxml2::XMLElement* root); // parse XML document
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void PrintSchema(std::stringstream& str, bool html, bool pad); // print text or HTML schema
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// XML sections embedded in all formats
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static void Compiler(tinyxml2::XMLElement* section, mjCModel* mod); // compiler section
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static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section
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static void Size(tinyxml2::XMLElement* section, mjCModel* mod); // size section
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private:
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// XML section specific to MJCF
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void Default(tinyxml2::XMLElement* section, int parentid); // default section
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void Extension(tinyxml2::XMLElement* section); // extension section
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void Custom(tinyxml2::XMLElement* section); // custom section
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void Visual(tinyxml2::XMLElement* section); // visual section
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void Statistic(tinyxml2::XMLElement* section); // statistic section
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void Asset(tinyxml2::XMLElement* section); // asset section
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void Body(tinyxml2::XMLElement* section, mjCBody* pbody); // body/world section
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void Contact(tinyxml2::XMLElement* section); // contact section
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void Equality(tinyxml2::XMLElement* section); // equality section
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void Tendon(tinyxml2::XMLElement* section); // tendon section
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void Actuator(tinyxml2::XMLElement* section); // actuator section
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void Sensor(tinyxml2::XMLElement* section); // sensor section
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void Keyframe(tinyxml2::XMLElement* section); // keyframe section
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// single element parsers, used in defaults and main body
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void OneMesh(tinyxml2::XMLElement* elem, mjCMesh* pmesh);
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void OneSkin(tinyxml2::XMLElement* elem, mjCSkin* pskin);
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void OneMaterial(tinyxml2::XMLElement* elem, mjCMaterial* pmaterial);
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void OneJoint(tinyxml2::XMLElement* elem, mjCJoint* pjoint);
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void OneGeom(tinyxml2::XMLElement* elem, mjCGeom* pgeom);
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void OneSite(tinyxml2::XMLElement* elem, mjCSite* psite);
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void OneCamera(tinyxml2::XMLElement* elem, mjCCamera* pcamera);
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void OneLight(tinyxml2::XMLElement* elem, mjCLight* plight);
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void OnePair(tinyxml2::XMLElement* elem, mjCPair* ppair);
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void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality);
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void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon);
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void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator);
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void OneComposite(tinyxml2::XMLElement* elem, mjCBody* pbody, mjCDef* def);
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void OnePlugin(tinyxml2::XMLElement* elem, mjCBase* object);
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mjXSchema schema; // schema used for validation
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mjCDef* GetClass(tinyxml2::XMLElement* section); // get default class name
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static void GetXMLPos(tinyxml2::XMLElement* elem, mjCBase* obj); // get xml position
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bool readingdefaults; // true while reading defaults
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};
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#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
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