Alessio Quaglino
e310c23267
PiperOrigin-RevId: 700269761 Change-Id: Ifb7e9c66c70eac7d681cfcf106712d47291cf9e2
60 lines
2.3 KiB
C
60 lines
2.3 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_API_H_
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#define MUJOCO_SRC_XML_XML_API_H_
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjspec.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// parse XML file in MJCF or URDF format, compile it, return low-level model
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// if vfs is not NULL, look up files in vfs before reading from disk
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// error can be NULL; otherwise assumed to have size error_sz
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MJAPI mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
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// update XML data structures with info from low-level model, save as MJCF
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MJAPI int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
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// free last XML model if loaded; called internally at each load
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MJAPI void mj_freeLastXML(void);
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// print internal XML schema as plain text or HTML, with style-padding or
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MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
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int flg_html, int flg_pad);
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// load model from binary MJB file
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// if vfs is not NULL, look up file in vfs before reading from disk
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MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
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// parse spec from file or XML string.
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MJAPI mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
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MJAPI mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
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// Save spec to XML file and/or string, return 0 on success, -1 otherwise.
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MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
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MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_XML_XML_API_H_
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