File size: 1,432 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | // Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "elasticity.h"
#include <algorithm>
#include <cassert>
#include <cctype>
#include <cstdlib>
#include <sstream>
#include <string>
#include <vector>
#include <mujoco/mujoco.h>
namespace mujoco::plugin::elasticity {
void String2Vector(const std::string& txt, std::vector<int>& vec) {
std::stringstream strm(txt);
vec.clear();
while (!strm.eof()) {
int num;
strm >> num;
if (strm.fail()) {
break;
} else {
vec.push_back(num);
}
}
}
bool CheckAttr(const char* name, const mjModel* m, int instance) {
char* end;
std::string value = mj_getPluginConfig(m, instance, name);
value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
strtod(value.c_str(), &end);
return end == value.data() + value.size();
}
} // namespace mujoco::plugin::elasticity
|