Alessio Quaglino
84ad22a590
Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input. PiperOrigin-RevId: 765393821 Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
36 lines
1.3 KiB
C++
36 lines
1.3 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_H_
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#define MUJOCO_SRC_XML_XML_H_
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#include <string>
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#include <string_view>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjspec.h>
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// Main parser function
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mjSpec* ParseXML(const char* filename, const mjVFS* vfs, char* error, int nerror);
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// Returns a newly-allocated mjSpec, loaded from the contents of xml.
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// On failure returns nullptr and populates the error array if present.
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mjSpec* ParseSpecFromString(std::string_view xml, const mjVFS* vfs = nullptr,
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char* error = nullptr, int nerror = 0);
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// Main writer function
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std::string WriteXML(const mjModel* m, mjSpec* spec, char* error, int nerror);
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#endif // MUJOCO_SRC_XML_XML_H_
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