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// Copyright 2019 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.
using System;
using System.Linq;
using System.Xml;
using UnityEngine;
namespace Mujoco {
public class MjSiteVectorSensor : MjBaseSensor {
// NOTE: These names must match sensor names listed on mujoco.org.
// Changing them is justified only when Mujoco is upgraded to a new version.
public enum AvailableSensors {
Accelerometer,
Velocimeter,
Gyro,
Force,
Torque,
Magnetometer,
FramePos,
FrameXAxis,
FrameYAxis,
FrameZAxis,
FrameLinVel,
FrameAngVel,
FrameLinAcc,
FrameAngAcc,
}
public AvailableSensors SensorType;
public MjSite Site;
public Vector3 SensorReading { get; private set; }
protected override XmlElement ToMjcf(XmlDocument doc) {
if (Site == null) {
throw new NullReferenceException("Missing a reference to a MjSite.");
}
var tag = SensorType.ToString().ToLower();
var mjcf = doc.CreateElement(tag);
if (tag.Contains("frame")) {
mjcf.SetAttribute("objtype", "site");
mjcf.SetAttribute("objname", Site.MujocoName);
} else {
mjcf.SetAttribute("site", Site.MujocoName);
}
return mjcf;
}
protected override void FromMjcf(XmlElement mjcf) {
if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
}
if (mjcf.Name.Contains("frame")) {
Site = mjcf.GetObjectReferenceAttribute<MjSite>("objname");
} else {
Site = mjcf.GetObjectReferenceAttribute<MjSite>("site");
}
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
}
}
}
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