Yuval Tassa
58f6d52491
PiperOrigin-RevId: 930744288 Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
97 lines
3.0 KiB
C++
97 lines
3.0 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/mjspec.h>
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#include <mujoco/mjtype.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 MjPreContact = ::mjPreContact;
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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 MjSpec = ::mjSpec;
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using MjsElement = ::mjsElement;
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using MjsOrientation = ::mjsOrientation;
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using MjsPlugin = ::mjsPlugin;
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using MjsBody = ::mjsBody;
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using MjsFrame = ::mjsFrame;
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using MjsJoint = ::mjsJoint;
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using MjsGeom = ::mjsGeom;
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using MjsSite = ::mjsSite;
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using MjsCamera = ::mjsCamera;
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using MjsLight = ::mjsLight;
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using MjsFlex = ::mjsFlex;
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using MjsMesh = ::mjsMesh;
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using MjsHField = ::mjsHField;
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using MjsSkin = ::mjsSkin;
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using MjsTexture = ::mjsTexture;
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using MjsMaterial = ::mjsMaterial;
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using MjsPair = ::mjsPair;
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using MjsExclude = ::mjsExclude;
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using MjsEquality = ::mjsEquality;
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using MjsTendon = ::mjsTendon;
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using MjsWrap = ::mjsWrap;
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using MjsActuator = ::mjsActuator;
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using MjsSensor = ::mjsSensor;
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using MjsNumeric = ::mjsNumeric;
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using MjsText = ::mjsText;
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using MjsTuple = ::mjsTuple;
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using MjsKey = ::mjsKey;
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using MjsDefault = ::mjsDefault;
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using MjsCompiler = ::mjsCompiler;
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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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using MjLogConfig = ::mjLogConfig;
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using MjLogMessage = ::mjLogMessage;
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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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using MjrVertexAttribute = ::mjrVertexAttribute;
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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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