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Add engine-internal convenience macro for allocating typed arrays, improve error message.

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PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
This commit is contained in:
Yuval Tassa
2024-12-11 09:03:39 -08:00
committed by Copybara-Service
parent 3ca97248a3
commit 2691887500
25 changed files with 283 additions and 274 deletions
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src/engine/engine_util_solve.c
+4 -4
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@@ -148,8 +148,8 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
int rank = n;
mj_markStack(d);
mjtNum* buf = mj_stackAllocNum(d, n);
int* buf_ind = mj_stackAllocInt(d, n);
mjtNum* buf = mjSTACKALLOC(d, n, mjtNum);
int* buf_ind = mjSTACKALLOC(d, n, int);
// backpass over rows
for (int r=n-1; r >= 0; r--) {
@@ -241,8 +241,8 @@ int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
const int* rownnz, const int* rowadr, int* colind, int x_nnz, int* x_ind,
mjData* d) {
mj_markStack(d);
int* buf_ind = mj_stackAllocInt(d, n);
mjtNum* sparse_buf = mj_stackAllocNum(d, n);
int* buf_ind = mjSTACKALLOC(d, n, int);
mjtNum* sparse_buf = mjSTACKALLOC(d, n, mjtNum);
// backpass over rows corresponding to non-zero x(r)
int rank = n, i = x_nnz - 1;