MJUtils

namespace MJBasilisk

namespace detail

Typedefs

using mjModelDeleter = mjDeleter<mjModel, mj_deleteModel>

using mjDataDeleter = mjDeleter<mjData, mj_deleteData>

using mjSpecDeleter = mjDeleter<mjSpec, mj_deleteSpec>

using mjVFSDeleter = mjDeleter<mjVFS, mj_deleteVFS>

Functions

template<typename T = std::invalid_argument>
inline void logAndThrow(const std::string &error, BSKLogger *logger = nullptr)

Loggs an error message and then throws an error.

template<typename T>
inline std::string getSpecObjectName(T *object)

Returns the name of the given MuJoCo spec object.

template<typename T>
inline void setSpecObjectName(T *object, const std::string &name)

Sets the name of the given MuJoCo spec object.