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Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
This commit is contained in:
Kyle Bayes
2026-06-22 04:18:29 -07:00
committed by Copybara-Service
parent 34d142ee50
commit 1490336955
39 changed files with 4616 additions and 5908 deletions
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test/engine/engine_island_test.cc
+25 -55
View File
@@ -14,6 +14,8 @@
// Tests for engine/engine_island.c.
#include "src/engine/engine_island.h"
#include <string>
#include <vector>
@@ -21,7 +23,6 @@
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_island.h"
#include "src/engine/engine_util_sparse.h"
#include "test/fixture.h"
@@ -34,16 +35,11 @@ using ::testing::NotNull;
using ::testing::Pointwise;
using IslandTest = MujocoTest;
TEST_F(IslandTest, FloodFillSingleton) {
// adjacency matrix for the graph 0 1 2
// U U
// (3 singletons, 0 and 2 have self-edges)
mjtNum mat[9] = {
1, 0, 0,
0, 0, 0,
0, 0, 1
};
mjtNum mat[9] = {1, 0, 0, 0, 0, 0, 0, 0, 1};
constexpr int nr = 3;
constexpr int nnz = 2;
int rownnz[nr];
@@ -54,7 +50,7 @@ TEST_F(IslandTest, FloodFillSingleton) {
// outputs / scratch
int island[nr];
int scratch[2*nr];
int scratch[2 * nr];
// flood fill
int nisland = mj_floodFill(island, nr, rownnz, rowadr, colind, scratch);
@@ -63,14 +59,9 @@ TEST_F(IslandTest, FloodFillSingleton) {
EXPECT_THAT(island, ElementsAre(0, -1, 1));
}
TEST_F(IslandTest, FloodFill1) {
// adjacency matrix for the graph 0 - 1 - 2
mjtNum mat[9] = {
0, 1, 0,
1, 0, 1,
0, 1, 0
};
mjtNum mat[9] = {0, 1, 0, 1, 0, 1, 0, 1, 0};
constexpr int nr = 3;
constexpr int nnz = 4;
int rownnz[nr];
@@ -89,17 +80,11 @@ TEST_F(IslandTest, FloodFill1) {
EXPECT_THAT(island, ElementsAre(0, 0, 0));
}
TEST_F(IslandTest, FloodFill2) {
// adjacency matrix for the graph 6 – 1 – 4 0 – 3 – 5 – 2
mjtNum mat[49] = {
0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 1, 0, 1,
0, 0, 0, 0, 0, 1, 0,
1, 0, 0, 0, 0, 1, 0,
0, 1, 0, 0, 0, 0, 0,
0, 0, 1, 1, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0,
0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
};
constexpr int nr = 7;
constexpr int nnz = 10;
@@ -119,15 +104,11 @@ TEST_F(IslandTest, FloodFill2) {
EXPECT_THAT(island, ElementsAre(0, 1, 0, 0, 1, 0, 1));
}
TEST_F(IslandTest, FloodFill3a) {
// adjacency matrix for the graph 0 2 1 – 3
// U
mjtNum mat[16] = {
0, 0, 0, 0,
0, 0, 0, 1,
0, 0, 1, 0,
0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0,
};
constexpr int nr = 4;
constexpr int nnz = 3;
@@ -147,7 +128,6 @@ TEST_F(IslandTest, FloodFill3a) {
EXPECT_THAT(island, ElementsAre(-1, 0, 1, 0));
}
TEST_F(IslandTest, FloodFill3b) {
/*
adjacency matrix for the graph 1 – 2 3 4 – 5
@@ -155,13 +135,8 @@ TEST_F(IslandTest, FloodFill3b) {
0 – 6
*/
mjtNum mat[49] = {
0, 0, 0, 0, 1, 0, 1,
0, 1, 1, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 1, 1,
0, 0, 0, 0, 1, 0, 1,
1, 0, 0, 0, 1, 1, 0,
0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0,
};
constexpr int nr = 7;
constexpr int nnz = 13;
@@ -181,8 +156,7 @@ TEST_F(IslandTest, FloodFill3b) {
EXPECT_THAT(island, ElementsAre(0, 1, 1, -1, 0, 0, 0));
}
static const char* const kAbacusPath =
"engine/testdata/island/abacus.xml";
static const char* const kAbacusPath = "engine/testdata/island/abacus.xml";
TEST_F(IslandTest, Abacus) {
const std::string xml_path = GetTestDataFilePath(kAbacusPath);
@@ -207,10 +181,10 @@ TEST_F(IslandTest, Abacus) {
}
// sizes
int nv = model->nv;
int nefc = data->nefc;
int nv = model->nv;
int nefc = data->nefc;
int nisland = data->nisland;
int nidof = data->nidof;
int nidof = data->nidof;
// 4 dofs, 12 constraints, 2 islands
EXPECT_EQ(nv, 4);
@@ -268,9 +242,9 @@ TEST_F(IslandTest, Abacus) {
}
// local variables
nefc = data->nefc;
nisland = data->nisland;
nidof = data->nidof;
nefc = data->nefc;
nisland = data->nisland;
nidof = data->nidof;
EXPECT_EQ(nisland, 3);
EXPECT_EQ(nidof, 4);
@@ -314,8 +288,8 @@ TEST_F(IslandTest, DenseSparse) {
}
// sizes
int nv = model->nv;
int nefc = data1->nefc;
int nv = model->nv;
int nefc = data1->nefc;
int nisland = data1->nisland;
// expect sparse and dense to be identical
@@ -327,8 +301,7 @@ TEST_F(IslandTest, DenseSparse) {
AsVector(data2->island_idofadr, nisland));
EXPECT_EQ(AsVector(data1->island_nv, nisland),
AsVector(data2->island_nv, nisland));
EXPECT_EQ(AsVector(data1->dof_island, nv),
AsVector(data2->dof_island, nv));
EXPECT_EQ(AsVector(data1->dof_island, nv), AsVector(data2->dof_island, nv));
EXPECT_EQ(AsVector(data1->map_idof2dof, nv),
AsVector(data2->map_idof2dof, nv));
EXPECT_EQ(AsVector(data1->map_dof2idof, nv),
@@ -462,12 +435,10 @@ TEST_F(IslandTest, EqualityConstraintOfTendons) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
mj_forward(model, data);
mj_deleteData(data);
mj_deleteModel(model);
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);
mj_forward(model.get(), data.get());
}
TEST_F(IslandTest, PGSIsland) {
@@ -496,8 +467,7 @@ TEST_F(IslandTest, PGSIsland) {
// solve without islands
m->opt.disableflags |= mjDSBL_ISLAND;
mj_forward(m, d);
std::vector<mjtNum> qfrc_mono(d->qfrc_constraint,
d->qfrc_constraint + m->nv);
std::vector<mjtNum> qfrc_mono(d->qfrc_constraint, d->qfrc_constraint + m->nv);
// expect close match (inexact due to randomized constraint visitation order)
EXPECT_THAT(qfrc_island, Pointwise(MjNear(1e-3, 1e-3), qfrc_mono));