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Add replicate element to MJCF. Fixes #553

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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
This commit is contained in:
Alessio Quaglino
2024-04-30 06:28:09 -07:00
committed by Copybara-Service
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
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test/fixture.cc
+14 -8
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@@ -191,7 +191,7 @@ auto Compare(T val1, T val2) {
ReturnType magnitude = mju_abs(val1) + mju_abs(val2);
error = mju_abs(val1/magnitude - val2/magnitude) / magnitude;
}
ReturnType safety_factor = 10;
ReturnType safety_factor = 200;
return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
? 0
: error;
@@ -213,13 +213,19 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
if (maxdif > 0) return maxdif;
// compare arrays
#define X(type, name, nr, nc) \
for (int r=0; r < m1->nr; r++) \
for (int c=0; c < nc; c++) { \
dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
if (dif > maxdif) { maxdif = dif; field = #name;} }
MJMODEL_POINTERS
#undef X
#define X(type, name, nr, nc) \
for (int r = 0; r < m1->nr; r++) \
for (int c = 0; c < nc; c++) { \
dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \
if (dif > maxdif) { \
maxdif = dif; \
field = #name; \
field += " row: " + std::to_string(r); \
field += " col: " + std::to_string(c); \
} \
} // NOLINT
MJMODEL_POINTERS
#undef X
// compare scalars in mjOption
#define X(type, name) \