File size: 4,719 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 79 80 81 82 83 84 85 86 87 88 89 90 91 | // 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_NATIVE_WRITER_H_
#define MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
#include <cstdlib>
#include <string>
#include <string_view>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
#include "user/user_objects.h"
#include "xml/xml_base.h"
#include "tinyxml2.h"
class mjXWriter : public mjXBase {
public:
mjXWriter(); // constructor
virtual ~mjXWriter() = default; // destructor
void SetModel(mjSpec* _spec, const mjModel* m = nullptr);
// write XML document to string
std::string Write(char *error, std::size_t error_sz);
private:
// insert end child with given name, return child
tinyxml2::XMLElement* InsertEnd(tinyxml2::XMLElement* parent, const char* name);
// compiled model
mjCModel* model = 0;
// XML section writers
void Compiler(tinyxml2::XMLElement* root); // compiler section
void Option(tinyxml2::XMLElement* root); // option section
void Size(tinyxml2::XMLElement* root); // size section
void Visual(tinyxml2::XMLElement* root); // visual section
void Statistic(tinyxml2::XMLElement* root); // statistic section
void Default(tinyxml2::XMLElement* root, mjCDef* def); // default section
void Extension(tinyxml2::XMLElement* root); // extension section
void Custom(tinyxml2::XMLElement* root); // custom section
void Asset(tinyxml2::XMLElement* root); // asset section
void Contact(tinyxml2::XMLElement* root); // contact section
void Deformable(tinyxml2::XMLElement* root); // deformable section
void Equality(tinyxml2::XMLElement* root); // equality section
void Tendon(tinyxml2::XMLElement* root); // tendon section
void Actuator(tinyxml2::XMLElement* root); // actuator section
void Sensor(tinyxml2::XMLElement* root); // sensor section
void Keyframe(tinyxml2::XMLElement* root); // keyframe section
// body/world section
void Body(tinyxml2::XMLElement* elem, mjCBody* body, mjCFrame* frame, std::string_view childclass = "");
// single element writers, used in defaults and main body
void OneFlex(tinyxml2::XMLElement* elem, const mjCFlex* pflex);
void OneMesh(tinyxml2::XMLElement* elem, const mjCMesh* pmesh, mjCDef* def);
void OneSkin(tinyxml2::XMLElement* elem, const mjCSkin* pskin);
void OneMaterial(tinyxml2::XMLElement* elem, const mjCMaterial* pmaterial, mjCDef* def);
void OneJoint(tinyxml2::XMLElement* elem, const mjCJoint* pjoint, mjCDef* def,
std::string_view classname = "");
void OneGeom(tinyxml2::XMLElement* elem, const mjCGeom* pgeom, mjCDef* def,
std::string_view classname = "");
void OneSite(tinyxml2::XMLElement* elem, const mjCSite* psite, mjCDef* def,
std::string_view classname = "");
void OneCamera(tinyxml2::XMLElement* elem, const mjCCamera* pcamera,
mjCDef* def, std::string_view classname = "");
void OneLight(tinyxml2::XMLElement* elem, const mjCLight* plight, mjCDef* def,
std::string_view classname = "");
void OnePair(tinyxml2::XMLElement* elem, const mjCPair* ppair, mjCDef* def);
void OneEquality(tinyxml2::XMLElement* elem, const mjCEquality* pequality, mjCDef* def);
void OneTendon(tinyxml2::XMLElement* elem, const mjCTendon* ptendon, mjCDef* def);
void OneActuator(tinyxml2::XMLElement* elem, const mjCActuator* pactuator, mjCDef* def);
void OnePlugin(tinyxml2::XMLElement* elem, const mjsPlugin* plugin);
tinyxml2::XMLElement* OneFrame(tinyxml2::XMLElement* elem, mjCFrame* frame);
bool writingdefaults; // true during defaults write
};
#endif // MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
|