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Formatting improvements to docs Overview chapter.

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PiperOrigin-RevId: 561586361
Change-Id: Ib529cbd49cebf26d802d023d12d973491e41d3ad
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Yuval Tassa
2023-08-31 01:42:55 -07:00
committed by Copybara-Service
parent ac150f751d
commit 43a0bd3646
2 changed files with 231 additions and 178 deletions
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doc/changelog.rst
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@@ -38,11 +38,11 @@ General
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
#. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
#. Changed the function ``mj_stackAlloc`` to allocate an arbitrary number of bytes, rather than in multiples of
#. Changed the function :ref:`mj_stackAlloc` to allocate an arbitrary number of bytes, rather than in multiples of
``sizeof(mjtNum)``, and add an additional argument for specifying the alignment of the returned pointer. The existing
functionality of allocating ``mjtNum`` arrays is still available through the new function ``mj_stackAllocNum``.
#. Renamed the ``nstack`` field in ``mjModel`` and ``mjData`` to ``narena``. Changed ``narena``, ``pstack``, and
``maxuse_stack`` to count number of bytes rather than number of ``mjtNum``s.
functionality of allocating ``mjtNum`` arrays is still available through the new function :ref:`mj_stackAllocNum`.
#. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``, and
``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
Python bindings
^^^^^^^^^^^^^^^