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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 | // Copyright 2021 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.
#ifndef MUJOCO_SRC_XML_XML_H_
#define MUJOCO_SRC_XML_XML_H_
#include <string>
#include <string_view>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
// Main parser function
mjSpec* ParseXML(const char* filename, const mjVFS* vfs, char* error, int nerror);
// Returns a newly-allocated mjSpec, loaded from the contents of xml.
// On failure returns nullptr and populates the error array if present.
mjSpec* ParseSpecFromString(std::string_view xml, const mjVFS* vfs = nullptr,
char* error = nullptr, int nerror = 0);
// Main writer function
std::string WriteXML(const mjModel* m, mjSpec* spec, char* error, int nerror);
#endif // MUJOCO_SRC_XML_XML_H_
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