Sam Haves
9089059517
PiperOrigin-RevId: 775269423 Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
42 lines
1.3 KiB
C++
42 lines
1.3 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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#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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namespace mujoco {
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namespace usd {
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// A sink for writing pose data to an SDF layer.
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// Opinions will be authored on the edit target layer for the
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// passed stage argument.
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class LayerSink {
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public:
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explicit LayerSink(pxr::UsdStageRefPtr stage);
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void Update(const mjData* const data, std::vector<pxr::SdfPath> body_paths_);
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private:
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pxr::UsdStageRefPtr stage_;
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};
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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