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Fix more mjData stack leakages.

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PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
This commit is contained in:
Saran Tunyasuvunakool
2023-09-04 06:37:53 -07:00
committed by Copybara-Service
parent 5a21e202ed
commit 0e36f00857
9 changed files with 20 additions and 14 deletions
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src/engine/engine_derivative_fd.c
+1 -1
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@@ -634,7 +634,6 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq) {
int nq = m->nq, nv = m->nv, nM = m->nM, ns = m->nsensordata;
mjMARKSTACK;
if (m->opt.integrator == mjINT_RK4) {
mjERROR("RK4 integrator is not supported");
@@ -648,6 +647,7 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
int skipsensor = !DsDq && !DsDv && !DsDa;
// local vectors
mjMARKSTACK;
mjtNum *pos = mj_stackAllocNum(d, nq); // position
mjtNum *force = mj_stackAllocNum(d, nv); // force
mjtNum *force_plus = mj_stackAllocNum(d, nv); // nudged force