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Change the type of state signature arguments from unsigned int to int

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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
This commit is contained in:
Yuval Tassa
2025-12-11 04:33:33 -08:00
committed by Copybara-Service
parent fe0a11d58d
commit 1ff74ba810
9 changed files with 92 additions and 46 deletions
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doc/changelog.rst
+6 -1
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@@ -7,10 +7,15 @@ Upcoming version (not yet released)
General
^^^^^^^
- Non-breaking ABI changes:
- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result in
a silent implicit cast, now negativity will trigger an error.
MJX
^^^
1. Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
- Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
Bug fixes
^^^^^^^^^
doc/includes/references.h
+6 -6
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@@ -3178,12 +3178,12 @@ void mj_projectConstraint(const mjModel* m, mjData* d);
void mj_referenceConstraint(const mjModel* m, mjData* d);
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian);
int mj_stateSize(const mjModel* m, unsigned int sig);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig);
void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig,
mjtNum* dst, unsigned int dstsig);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig);
void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig);
int mj_stateSize(const mjModel* m, int sig);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
mjtNum* dst, int dstsig);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
void mj_setKeyframe(mjModel* m, const mjData* d, int k);
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);