File size: 1,946 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 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 | // 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.
#include "xml/xml_base.h"
#include <cfloat>
#include <cstddef>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
#include "xml/xml_util.h"
#include "tinyxml2.h"
namespace {
using std::string;
using tinyxml2::XMLElement;
} // namespace
//--------------------------------- Base class, helper functions -----------------------------------
// base constructor
mjXBase::mjXBase() {
spec = NULL;
}
// set model field
void mjXBase::SetModel(mjSpec* _model, const mjModel* m) {
spec = _model;
}
// read alternative orientation specification
int mjXBase::ReadAlternative(XMLElement* elem, mjsOrientation& alt) {
string text;
int numspec = (int)(elem->Attribute("quat") != 0);
if (ReadAttr(elem, "axisangle", 4, alt.axisangle, text)) {
numspec++;
alt.type = mjORIENTATION_AXISANGLE;
}
if (ReadAttr(elem, "xyaxes", 6, alt.xyaxes, text)) {
numspec++;
alt.type = mjORIENTATION_XYAXES;
}
if (ReadAttr(elem, "zaxis", 3, alt.zaxis, text)) {
numspec++;
alt.type = mjORIENTATION_ZAXIS;
}
if (ReadAttr(elem, "euler", 3, alt.euler, text)) {
numspec++;
alt.type = mjORIENTATION_EULER;
}
if (numspec > 1) {
throw mjXError(elem, "multiple orientation specifiers are not allowed");
}
return numspec;
}
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