Tighten const qualifiers of mjData in Jacobian multiplication functions.

PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135

doc/includes/references.h

@@ -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_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-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);
 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

@@ -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

@@ -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

@@ -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

@@ -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 -----------------------------------------------------