Haroon Qureshi
16d618e7b9
PiperOrigin-RevId: 882503274 Change-Id: Iddbd6f00c0344bb34d68bb72a640c0a8e81076a2
85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
// Copyright 2026 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_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
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#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
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#include <memory>
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#include <cstddef>
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#include <span>
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#include <string_view>
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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// Container for storing an mjModel as well as its associated mjData. Also, if
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// applicable, stores the mjSpec and mjVFS from which the model was constructed.
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class ModelHolder {
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public:
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ModelHolder(const ModelHolder&) = delete;
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ModelHolder& operator=(const ModelHolder&) = delete;
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~ModelHolder();
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// Creates an mjModel from an existing mjSpec. This class takes ownership of
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// the spec and will `mj_deleteSpec` it on destruction.
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static std::unique_ptr<ModelHolder> FromSpec(mjSpec* spec);
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// Creates an mjModel by attempting to open and parse the give file.
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static std::unique_ptr<ModelHolder> FromFile(std::string_view filepath);
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// Creates an mjModel by attempting to decode the given buffer.
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static std::unique_ptr<ModelHolder> FromBuffer(
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std::span<const std::byte> buffer, std::string_view content_type,
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std::string_view filename);
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// Accessors to the MuJoCo structures managed by this object.
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mjVFS* vfs() { return &vfs_; }
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mjSpec* spec() { return spec_; }
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mjData* data() { return data_; }
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mjModel* model() { return model_; }
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// Returns true if the holder holds a valid model (and data).
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bool ok() const { return error_[0] == 0 && model_ && data_; }
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// Returns the error message if the model failed to load.
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std::string_view error() const { return error_; }
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// Releases ownership of the underlying MuJoCo structures. Callers are now
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// responsible for calling the appropriate `mj_delete*` function on these
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// objects.
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mjSpec* ReleaseSpec();
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mjData* ReleaseData();
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mjModel* ReleaseModel();
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private:
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ModelHolder();
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void InitFromSpec(mjSpec* spec);
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void InitFromFile(std::string_view filepath);
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void InitFromBuffer(std::span<const std::byte> buffer,
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std::string_view content_type,
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std::string_view filename);
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void PostInit();
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void SetLoadError(std::string_view error);
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mjVFS vfs_;
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mjSpec* spec_ = nullptr;
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mjModel* model_ = nullptr;
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mjData* data_ = nullptr;
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char error_[1000] = "";
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};
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} // namespace mujoco::platform
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#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_MODEL_HOLDER_H_
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