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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_sparse.c
+5 -5
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@@ -678,7 +678,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d) {
mj_markStack(d);
int* chain = mj_stackAllocInt(d, 2*nr);
int* chain = mjSTACKALLOC(d, 2*nr, int);
int nchain = 0;
int* res_colind = NULL;
@@ -784,11 +784,11 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
mj_markStack(d);
// a dense row buffer that stores the current row in the resulting matrix
mjtNum* buffer = mj_stackAllocNum(d, nc);
mjtNum* buffer = mjSTACKALLOC(d, nc, mjtNum);
// these mark the currently set columns in the dense row buffer,
// used for when creating the resulting sparse row
int* markers = mj_stackAllocInt(d, nc);
int* markers = mjSTACKALLOC(d, nc, int);
for (int i=0; i < nc; i++) {
int* cols = res_colind+res_rowadr[i];
@@ -899,8 +899,8 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
int mju_cholFactorNNZ(int* L_rownnz, const int* rownnz, const int* rowadr, const int* colind,
int n, mjData* d) {
mj_markStack(d);
int* parent = mj_stackAllocInt(d, n);
int* flag = mj_stackAllocInt(d, n);
int* parent = mjSTACKALLOC(d, n, int);
int* flag = mjSTACKALLOC(d, n, int);
// loop over rows in reverse order
for (int r = n - 1; r >= 0; r--) {