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Rename spec to sig in state-related API functions.

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(to avoid confusion with mjSpec)

PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
This commit is contained in:
Yuval Tassa
2025-08-16 08:37:41 -07:00
committed by Copybara-Service
parent 5a24eb2d34
commit 1447711037
11 changed files with 77 additions and 77 deletions
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test/engine/engine_support_test.cc
+7 -7
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@@ -706,16 +706,16 @@ TEST_F(SupportTest, GetSetStateStepEqual) {
// take one step
mj_step(model, data);
int spec = mjSTATE_INTEGRATION;
int size = mj_stateSize(model, spec);
int signature = mjSTATE_INTEGRATION;
int size = mj_stateSize(model, signature);
// save the initial state and step
vector<mjtNum> state0a(size);
mj_getState(model, data, state0a.data(), spec);
mj_getState(model, data, state0a.data(), signature);
// get the initial state, expect equality
vector<mjtNum> state0b(size);
mj_getState(model, data, state0b.data(), spec);
mj_getState(model, data, state0b.data(), signature);
EXPECT_EQ(state0a, state0b);
// take one step
@@ -723,16 +723,16 @@ TEST_F(SupportTest, GetSetStateStepEqual) {
// save the resulting state
vector<mjtNum> state1a(size);
mj_getState(model, data, state1a.data(), spec);
mj_getState(model, data, state1a.data(), signature);
// expect the state to be different after stepping
EXPECT_THAT(state0a, testing::Ne(state1a));
// reset to the saved state, step again, get the resulting state
mj_setState(model, data, state0a.data(), spec);
mj_setState(model, data, state0a.data(), signature);
mj_step(model, data);
vector<mjtNum> state1b(size);
mj_getState(model, data, state1b.data(), spec);
mj_getState(model, data, state1b.data(), signature);
// expect the state to be the same after re-stepping
EXPECT_EQ(state1a, state1b);