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Tighten const qualifiers of mjData in Jacobian multiplication functions.

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PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
This commit is contained in:
Yuval Tassa
2023-08-31 11:26:30 -07:00
committed by Copybara-Service
parent f9c57f6213
commit 02e819e76a
5 changed files with 18 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+2 -2
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@@ -2268,8 +2268,8 @@ int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);
int mj_isSparse(const mjModel* m);
int mj_isDual(const mjModel* m);
void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
include/mujoco/mujoco.h
+2 -2
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@@ -386,10 +386,10 @@ MJAPI int mj_isSparse(const mjModel* m);
MJAPI int mj_isDual(const mjModel* m);
// Multiply dense or sparse constraint Jacobian by vector.
MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// Multiply dense or sparse constraint Jacobian transpose by vector.
MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.
MJAPI void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
introspect/functions.py
+2 -2
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@@ -1987,7 +1987,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
@@ -2019,7 +2019,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
src/engine/engine_core_constraint.c
+6 -4
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@@ -375,7 +375,7 @@ int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2) {
// multiply Jacobian by vector
void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec) {
void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
// exit if no constraints
if (!d->nefc) {
return;
@@ -396,7 +396,8 @@ void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec) {
// multiply Jacobian by vector, for one island
void mj_mulJacVec_island(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec, int island) {
void mj_mulJacVec_island(const mjModel* m, const mjData* d,
mjtNum* res, const mjtNum* vec, int island) {
// no island, call regular function
if (island < 0) {
mj_mulJacVec(m, d, res, vec);
@@ -435,7 +436,7 @@ void mj_mulJacVec_island(const mjModel* m, mjData* d, mjtNum* res, const mjtNum*
// multiply JacobianT by vector
void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec) {
void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
// exit if no constraints
if (!d->nefc) {
return;
@@ -456,7 +457,8 @@ void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec)
// multiply Jacobian transpose by vector, for one island
void mj_mulJacTVec_island(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec, int island) {
void mj_mulJacTVec_island(const mjModel* m, const mjData* d,
mjtNum* res, const mjtNum* vec, int island) {
// no island, call regular function
if (island < 0) {
mj_mulJacTVec(m, d, res, vec);
src/engine/engine_core_constraint.h
+6 -7
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@@ -36,19 +36,18 @@ MJAPI int mj_isSparse(const mjModel* m);
MJAPI int mj_isDual(const mjModel* m);
// multiply Jacobian by vector
MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply Jacobian by vector, for one island
MJAPI void mj_mulJacVec_island(const mjModel* m, mjData* d,
MJAPI void mj_mulJacVec_island(const mjModel* m, const mjData* d,
mjtNum* res, const mjtNum* vec, int island);
// multiply Jacobian transposed by vector, for one island
MJAPI void mj_mulJacTVec_island(const mjModel* m, mjData* d,
mjtNum* res, const mjtNum* vec, int island);
// multiply JacobianT by vector
MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply JacobianT by vector, for one island
MJAPI void mj_mulJacTVec_island(const mjModel* m, const mjData* d,
mjtNum* res, const mjtNum* vec, int island);
//-------------------------- utility functions -----------------------------------------------------