Alessio Quaglino
dcf2816543
PiperOrigin-RevId: 687377331 Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
91 lines
4.6 KiB
C++
91 lines
4.6 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_WRITER_H_
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#define MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
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#include <cstdlib>
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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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#include "user/user_objects.h"
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#include "xml/xml_base.h"
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#include "tinyxml2.h"
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class mjXWriter : public mjXBase {
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public:
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mjXWriter(); // constructor
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virtual ~mjXWriter() = default; // destructor
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void SetModel(const mjSpec* _spec, const mjModel* m = nullptr);
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// write XML document to string
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std::string Write(char *error, std::size_t error_sz);
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private:
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// insert end child with given name, return child
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tinyxml2::XMLElement* InsertEnd(tinyxml2::XMLElement* parent, const char* name);
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// compiled model
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mjCModel* model = 0;
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// XML section writers
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void Compiler(tinyxml2::XMLElement* root); // compiler section
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void Option(tinyxml2::XMLElement* root); // option section
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void Size(tinyxml2::XMLElement* root); // size section
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void Visual(tinyxml2::XMLElement* root); // visual section
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void Statistic(tinyxml2::XMLElement* root); // statistic section
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void Default(tinyxml2::XMLElement* root, mjCDef* def); // default section
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void Extension(tinyxml2::XMLElement* root); // extension section
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void Custom(tinyxml2::XMLElement* root); // custom section
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void Asset(tinyxml2::XMLElement* root); // asset section
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void Contact(tinyxml2::XMLElement* root); // contact section
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void Deformable(tinyxml2::XMLElement* root); // deformable section
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void Equality(tinyxml2::XMLElement* root); // equality section
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void Tendon(tinyxml2::XMLElement* root); // tendon section
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void Actuator(tinyxml2::XMLElement* root); // actuator section
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void Sensor(tinyxml2::XMLElement* root); // sensor section
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void Keyframe(tinyxml2::XMLElement* root); // keyframe section
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// body/world section
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void Body(tinyxml2::XMLElement* elem, mjCBody* body, mjCFrame* frame, std::string_view childclass = "");
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// single element writers, used in defaults and main body
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void OneFlex(tinyxml2::XMLElement* elem, const mjCFlex* pflex);
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void OneMesh(tinyxml2::XMLElement* elem, const mjCMesh* pmesh, mjCDef* def);
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void OneSkin(tinyxml2::XMLElement* elem, const mjCSkin* pskin);
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void OneMaterial(tinyxml2::XMLElement* elem, const mjCMaterial* pmaterial, mjCDef* def);
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void OneJoint(tinyxml2::XMLElement* elem, const mjCJoint* pjoint, mjCDef* def,
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std::string_view classname = "");
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void OneGeom(tinyxml2::XMLElement* elem, const mjCGeom* pgeom, mjCDef* def,
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std::string_view classname = "");
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void OneSite(tinyxml2::XMLElement* elem, const mjCSite* psite, mjCDef* def,
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std::string_view classname = "");
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void OneCamera(tinyxml2::XMLElement* elem, const mjCCamera* pcamera,
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mjCDef* def, std::string_view classname = "");
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void OneLight(tinyxml2::XMLElement* elem, const mjCLight* plight, mjCDef* def,
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std::string_view classname = "");
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void OnePair(tinyxml2::XMLElement* elem, const mjCPair* ppair, mjCDef* def);
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void OneEquality(tinyxml2::XMLElement* elem, const mjCEquality* pequality, mjCDef* def);
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void OneTendon(tinyxml2::XMLElement* elem, const mjCTendon* ptendon, mjCDef* def);
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void OneActuator(tinyxml2::XMLElement* elem, const mjCActuator* pactuator, mjCDef* def);
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void OnePlugin(tinyxml2::XMLElement* elem, const mjsPlugin* plugin);
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tinyxml2::XMLElement* OneFrame(tinyxml2::XMLElement* elem, mjCFrame* frame);
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bool writingdefaults; // true during defaults write
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};
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#endif // MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
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