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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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src/engine/engine_derivative_fd.c
+3 -3
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@@ -292,7 +292,7 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
// single-letter shortcuts:
// inputs: q=qpos, v=qvel, a=act, u=ctrl
// outputs: y=next_state (concatenated next qpos, qvel, act), s=sensordata
void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
mjtNum* DyDq, mjtNum* DyDv, mjtNum* DyDa, mjtNum* DyDu,
mjtNum* DsDq, mjtNum* DsDv, mjtNum* DsDa, mjtNum* DsDu) {
if (m->nhistory) {
@@ -539,7 +539,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// B: (2*nv+na x nu)
// C: (nsensordata x 2*nv+na)
// D: (nsensordata x nu)
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D) {
if (m->opt.integrator == mjINT_RK4) {
mjERROR("RK4 integrator is not supported");
@@ -605,7 +605,7 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_cente
// notes:
// optionally compute mass matrix Jacobian DmDq
// flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse
void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq) {