Remove deprecated mju_{error,warning}_{i,s} functions.

PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c

doc/APIreference/functions.rst

@@ -1980,24 +1980,6 @@ Error and memory
 
 Main error function; does not return to caller.
 
-.. _mju_error_i:
-
-`mju_error_i <#mju_error_i>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_error_i
-
-Deprecated: use mju_error.
-
-.. _mju_error_s:
-
-`mju_error_s <#mju_error_s>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_error_s
-
-Deprecated: use mju_error.
-
 .. _mju_warning:
 
 `mju_warning <#mju_warning>`__
@@ -2007,24 +1989,6 @@ Deprecated: use mju_error.
 
 Main warning function; returns to caller.
 
-.. _mju_warning_i:
-
-`mju_warning_i <#mju_warning_i>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_warning_i
-
-Deprecated: use mju_warning.
-
-.. _mju_warning_s:
-
-`mju_warning_s <#mju_warning_s>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_warning_s
-
-Deprecated: use mju_warning.
-
 .. _mju_clearHandlers:
 
 `mju_clearHandlers <#mju_clearHandlers>`__

doc/changelog.rst

@@ -21,16 +21,14 @@ General
      :class: attention
 
      - The header file ``mjthread.h`` was removed along with the old engine threading API.
-
-       **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
-
+       |br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
      - Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
        (multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
        allocated on the stack.
-
      - Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
        ``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
        the :math:`A` ("Delassus") matrix.
+     - The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
 
 Bug fixes
 ^^^^^^^^^
@@ -2145,7 +2143,7 @@ General
    <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model, which previously
    required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
 #. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
-   functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
+   functions ``mju_error_i``, ``mju_error_s``, ``mju_warning_i``, and ``mju_warning_s`` are now deprecated.
 #. Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory allocation.
 #. Added ``mj_stackAllocInt`` to get correct size for allocating ints on mjData stack. Reducing stack memory usage
    by 10% - 15%.

doc/includes/references.h

@@ -3457,11 +3457,7 @@ void mjui_update(int section, int item, const mjUI* ui,
 mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
 void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
 void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
-void mju_error_i(const char* msg, int i);
-void mju_error_s(const char* msg, const char* text);
 void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
-void mju_warning_i(const char* msg, int i);
-void mju_warning_s(const char* msg, const char* text);
 void mju_clearHandlers(void);
 void* mju_malloc(size_t size);
 void mju_free(void* ptr);