From ac8962d7ce480ff1431b407860058d0e9a0adeb7 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Wed, 26 Jun 2019 13:28:20 +0200
Subject: [PATCH] Add reset()
---
VirtualRobot/XML/mujoco/RobotMjcf.cpp | 17 ++++++++++++++++-
VirtualRobot/XML/mujoco/RobotMjcf.h | 3 +++
2 files changed, 19 insertions(+), 1 deletion(-)
diff --git a/VirtualRobot/XML/mujoco/RobotMjcf.cpp b/VirtualRobot/XML/mujoco/RobotMjcf.cpp
index 5210f82be..42131e5e7 100644
--- a/VirtualRobot/XML/mujoco/RobotMjcf.cpp
+++ b/VirtualRobot/XML/mujoco/RobotMjcf.cpp
@@ -54,10 +54,25 @@ ActuatorType toActuatorType(const std::string& string)
RobotMjcf::RobotMjcf(RobotPtr robot) : robot(robot)
{
+ reset();
+}
+
+void RobotMjcf::reset()
+{
+ document.reset(new mjcf::Document());
+ robotBody = mjcf::Body();
+ nodeBodies.clear();
+
+ // Set model name.
document->setModelName(robot->getName());
+ const std::string className = robot->getName();
+
+ // Add robot defaults class.
+ document->default_().addClass(className);
+
// Add robot body.
- robotBody = document->worldbody().addBody(robot->getName(), robot->getName());
+ robotBody = document->worldbody().addBody(robot->getName(), className);
nodeBodies[robot->getName()] = robotBody;
}
diff --git a/VirtualRobot/XML/mujoco/RobotMjcf.h b/VirtualRobot/XML/mujoco/RobotMjcf.h
index 1d0fd6729..02d9b2c60 100644
--- a/VirtualRobot/XML/mujoco/RobotMjcf.h
+++ b/VirtualRobot/XML/mujoco/RobotMjcf.h
@@ -31,6 +31,9 @@ namespace VirtualRobot::mujoco
RobotMjcf(RobotPtr robot);
+ /// Reset the document and related data.
+ void reset();
+
/// Get the document.
mjcf::Document& getDocument();
const mjcf::Document& getDocument() const;
--
GitLab