Datasets:

introvoyz041
/

mujoco

// 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;
}

	// 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;
	}