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Add spaces around comparison operators in engine source files.

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PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
This commit is contained in:
Yuval Tassa
2023-05-28 05:01:55 -07:00
committed by Copybara-Service
parent d40c395917
commit 455b1cd2e2
29 changed files with 2224 additions and 2219 deletions
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src/engine/engine_derivative_fd.c
+26 -26
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@@ -68,7 +68,7 @@ static void setState(const mjModel* m, mjData* d, mjtNum time, const mjtNum* sta
// dx = (x2 - x1) / h
static void diff(mjtNum* restrict dx, const mjtNum* x1, const mjtNum* x2, mjtNum h, int n) {
mjtNum inv_h = 1/h;
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
dx[i] = inv_h * (x2[i] - x1[i]);
}
}
@@ -154,22 +154,22 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
// use selected integrator
switch (m->opt.integrator) {
case mjINT_EULER:
mj_EulerSkip(m, d, skipstage >= mjSTAGE_POS);
break;
case mjINT_EULER:
mj_EulerSkip(m, d, skipstage >= mjSTAGE_POS);
break;
case mjINT_RK4:
// ignore skipstage
mj_RungeKutta(m, d, 4);
break;
case mjINT_RK4:
// ignore skipstage
mj_RungeKutta(m, d, 4);
break;
case mjINT_IMPLICIT:
case mjINT_IMPLICITFAST:
mj_implicitSkip(m, d, skipstage >= mjSTAGE_VEL);
break;
case mjINT_IMPLICIT:
case mjINT_IMPLICITFAST:
mj_implicitSkip(m, d, skipstage >= mjSTAGE_VEL);
break;
default:
mju_error("Invalid integrator");
default:
mju_error("Invalid integrator");
}
TM_END(mjTIMER_STEP);
@@ -208,7 +208,7 @@ void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
mju_copy(qfrc_passive, d->qfrc_passive, nv);
// loop over dofs
for (int i=0; i<nv; i++) {
for (int i=0; i < nv; i++) {
// save qvel[i]
mjtNum saveqvel = d->qvel[i];
@@ -224,9 +224,9 @@ void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
mju_scl(fd, fd, 1/eps, nv);
// copy to i-th column of qDeriv
for (int j=0; j<nv; j++) {
for (int j=0; j < nv; j++) {
int adr = d->D_rowadr[j] + cnt[j];
if (cnt[j]<d->D_rownnz[j] && d->D_colind[adr] == i) {
if (cnt[j] < d->D_rownnz[j] && d->D_colind[adr] == i) {
d->qDeriv[adr] = fd[j];
cnt[j]++;
}
@@ -257,7 +257,7 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
memset(cnt, 0, nv*sizeof(int));
// loop over dofs
for (int i=0; i<nv; i++) {
for (int i=0; i < nv; i++) {
// save qvel[i]
mjtNum saveqvel = d->qvel[i];
@@ -283,8 +283,8 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
mju_scl(fd, fd, 0.5/eps, nv);
// copy to sparse qDeriv
for (int j=0; j<nv; j++) {
if (cnt[j]<d->D_rownnz[j] && d->D_colind[d->D_rowadr[j]+cnt[j]]==i) {
for (int j=0; j < nv; j++) {
if (cnt[j] < d->D_rownnz[j] && d->D_colind[d->D_rowadr[j]+cnt[j]] == i) {
d->qDeriv[d->D_rowadr[j]+cnt[j]] = fd[j];
cnt[j]++;
}
@@ -292,8 +292,8 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
}
// make sure final row counters equal rownnz
for (int i=0; i<nv; i++) {
if (cnt[i]!=d->D_rownnz[i]) {
for (int i=0; i < nv; i++) {
if (cnt[i] != d->D_rownnz[i]) {
mju_error("error in constructing FD sparse derivative");
}
}
@@ -368,7 +368,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// finite-difference controls: skip=mjSTAGE_VEL, handle ctrl at range limits
if (DyDu || DsDu) {
for (int i=0; i<nu; i++) {
for (int i=0; i < nu; i++) {
int limited = m->actuator_ctrllimited[i];
// nudge forward, if possible given ctrlrange
int nudge_fwd = !limited || inRange(ctrl[i], ctrl[i]+eps, m->actuator_ctrlrange+2*i);
@@ -415,7 +415,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// finite-difference activations: skip=mjSTAGE_VEL
if (DyDa || DsDa) {
for (int i=0; i<na; i++) {
for (int i=0; i < na; i++) {
// nudge forward
d->act[i] += eps;
@@ -462,7 +462,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// finite-difference velocities: skip=mjSTAGE_POS
if (DyDv || DsDv) {
for (int i=0; i<nv; i++) {
for (int i=0; i < nv; i++) {
// nudge forward
d->qvel[i] += eps;
@@ -509,7 +509,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// finite-difference positions: skip=mjSTAGE_NONE
if (DyDq || DsDq) {
mjtNum *dpos = mj_stackAlloc(d, nv); // allocate position perturbation
for (int i=0; i<nv; i++) {
for (int i=0; i < nv; i++) {
// nudge forward
mju_zero(dpos, nv);
dpos[i] = 1;