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

PiperOrigin-RevId: 843162492 Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:33:33 -08:00
parent fe0a11d58d
commit 1ff74ba810
9 changed files with 92 additions and 46 deletions
@@ -844,14 +844,22 @@ TEST_F(SupportTest, ExtractState) {
    std::strncpy(last_error_msg, msg, sizeof(last_error_msg));
    ++error_count;
  };
+
  auto* old_mju_user_error = mju_user_error;
  mju_user_error = error_handler;
+
  mj_extractState(model, nullptr, srcsig, nullptr, mjSTATE_QFRC_APPLIED);
-  mju_user_error = old_mju_user_error;
  EXPECT_EQ(error_count, 1);
  EXPECT_EQ(std::string_view(last_error_msg),
            "mj_extractState: dstsig is not a subset of srcsig");

+  mj_extractState(model, nullptr, -1, nullptr, mjSTATE_QFRC_APPLIED);
+  EXPECT_EQ(error_count, 2);
+  EXPECT_EQ(std::string_view(last_error_msg),
+            "mj_extractState: invalid srcsig -1 < 0");
+
+  mju_user_error = old_mju_user_error;
+
  mj_deleteData(data);
  mj_deleteModel(model);
 }