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Fix formatting in documentation code samples.

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PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
This commit is contained in:
Yuval Tassa
2024-07-14 07:07:27 -07:00
committed by Copybara-Service
parent 22a10fd2ff
commit 3d28a1d8c7
2 changed files with 43 additions and 49 deletions
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doc/overview.rst
+3 -4
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@@ -207,12 +207,10 @@ rendering, is given below.
mjModel* m; mjModel* m;
mjData* d; mjData* d;
int main(void) int main(void) {
{
// load model from file and check for errors // load model from file and check for errors
m = mj_loadXML("hello.xml", NULL, error, 1000); m = mj_loadXML("hello.xml", NULL, error, 1000);
if( !m ) if (!m) {
{
printf("%s\n", error); printf("%s\n", error);
return 1; return 1;
} }
@@ -826,6 +824,7 @@ convention. Suppose we already have ``mjModel* m``. To print the range of a join
if (jntid >= 0) if (jntid >= 0)
printf("(%f, %f)\n", m->jnt_range[2*jntid], m->jnt_range[2*jntid+1]); printf("(%f, %f)\n", m->jnt_range[2*jntid], m->jnt_range[2*jntid+1]);
If the name is not found the function returns -1, which is why one should always check for id>=0. If the name is not found the function returns -1, which is why one should always check for id>=0.
.. _BodyGeomSite: .. _BodyGeomSite:
doc/programming/simulation.rst
+5 -10
View File
@@ -107,8 +107,7 @@ The default (and recommended) way to control the system is to implement a contro
.. code-block:: C .. code-block:: C
// simple controller applying damping to each dof // simple controller applying damping to each dof
void mycontroller(const mjModel* m, mjData* d) void mycontroller(const mjModel* m, mjData* d) {
{
if (m->nu == m->nv) if (m->nu == m->nv)
mju_scl(d->ctrl, d->qvel, -0.1, m->nv); mju_scl(d->ctrl, d->qvel, -0.1, m->nv);
} }
@@ -206,8 +205,7 @@ mj_step2 regardless of the setting of ``mjModel.opt.integrator``.
.. code-block:: C .. code-block:: C
void mj_step1(const mjModel* m, mjData* d) void mj_step1(const mjModel* m, mjData* d) {
{
mj_checkPos(m, d); mj_checkPos(m, d);
mj_checkVel(m, d); mj_checkVel(m, d);
mj_fwdPosition(m, d); mj_fwdPosition(m, d);
@@ -222,8 +220,7 @@ mj_step2 regardless of the setting of ``mjModel.opt.integrator``.
mjcb_control(m, d); mjcb_control(m, d);
} }
void mj_step2(const mjModel* m, mjData* d) void mj_step2(const mjModel* m, mjData* d) {
{
mj_fwdActuation(m, d); mj_fwdActuation(m, d);
mj_fwdAcceleration(m, d); mj_fwdAcceleration(m, d);
mj_fwdConstraint(m, d); mj_fwdConstraint(m, d);
@@ -372,8 +369,7 @@ skip arguments (mjSTAGE_NONE, 0), where the latter function is implemented as
void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) { void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
// position-dependent // position-dependent
if( skipstage<mjSTAGE_POS ) if (skipstage < mjSTAGE_POS) {
{
mj_fwdPosition(m, d); mj_fwdPosition(m, d);
if (!skipsensor) if (!skipsensor)
mj_sensorPos(m, d); mj_sensorPos(m, d);
@@ -382,8 +378,7 @@ skip arguments (mjSTAGE_NONE, 0), where the latter function is implemented as
} }
// velocity-dependent // velocity-dependent
if( skipstage<mjSTAGE_VEL ) if (skipstage < mjSTAGE_VEL) {
{
mj_fwdVelocity(m, d); mj_fwdVelocity(m, d);
if (!skipsensor) if (!skipsensor)
mj_sensorVel(m, d); mj_sensorVel(m, d);