Haroon Qureshi
9743c2d385
PiperOrigin-RevId: 853172824 Change-Id: I60ef1207611c4da119cc3f0a7819088cffca6e4f
57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
// Copyright 2025 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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// Standalone functions used by Simulate.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HELPERS_H_
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#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HELPERS_H_
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#include <cstddef>
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#include <functional>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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// Save/load for simple ascii files.
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void SaveText(const std::string& contents, const std::string& filename);
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std::string LoadText(const std::string& filename);
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// Attempts to find a file with the given name by recursively searching the
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// given search paths.
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std::string ResolveFile(const std::string& filename,
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const std::vector<std::string>& search_paths);
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// Exports the given image (assumed to be RGB888) to a webp file.
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void SaveToWebp(int width, int height, const std::byte* data,
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const std::string& filename);
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// Returns a pointer to the value of the given field in the given data.
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// Returns nullptr if the field is not found or the index is out of bounds.
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const void* GetValue(const mjModel* model, const mjData* data,
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const char* field, int index);
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// Returns an XML string representation of the camera.
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std::string CameraToString(const mjData* data, const mjvCamera* camera);
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// Returns an XML string representation of current data keyframe.
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std::string KeyframeToString(const mjModel* model, const mjData* data,
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bool full_precision = false);
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} // namespace mujoco::platform
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#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HELPERS_H_
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