Haroon Qureshi
6a7566872a
PiperOrigin-RevId: 812699642 Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
63 lines
2.3 KiB
C
63 lines
2.3 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_ENGINE_ENGINE_PRINT_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
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#include <stdio.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjvisualize.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// print mjModel to text file, specifying format
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// float_format must be a valid printf-style format string for a single float value
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MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename,
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const char* float_format);
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// print model and option to text file
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MJAPI void mj_printModel(const mjModel* m, const char* filename);
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// print mjData to text file, specifying format
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// float_format must be a valid printf-style format string for a single float value
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MJAPI void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
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const char* float_format);
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// print data to text file
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MJAPI void mj_printData(const mjModel* m, const mjData* d, const char* filename);
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// print sparse matrix structure
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MJAPI void mj_printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag,
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const int* rownnz, const int* rowsuper, const int* colind, FILE* fp);
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// print scene to text file
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MJAPI void mj_printScene(const mjvScene* s, const char* filename);
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// print scene to text file, specifying format
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// float_format must be a valid printf-style format string for a single float value
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MJAPI void mj_printFormattedScene(const mjvScene* s, const char* filename,
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const char* float_format);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
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