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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_print.c
+76 -76
View File
@@ -52,9 +52,9 @@ static void printArray(const char* str, int nr, int nc, const mjtNum* data, FILE
}
if (nr && nc) {
fprintf(fp, "%s\n", str);
for (int r=0; r<nr; r++) {
for (int r=0; r < nr; r++) {
fprintf(fp, " ");
for (int c=0; c<nc; c++) {
for (int c=0; c < nc; c++) {
fprintf(fp, " ");
fprintf(fp, float_format, data[c + r*nc]);
}
@@ -72,9 +72,9 @@ static void printArrayInt(const char* str, int nr, int nc, const int* data, FILE
}
if (nr && nc) {
fprintf(fp, "%s\n", str);
for (int r=0; r<nr; r++) {
for (int r=0; r < nr; r++) {
fprintf(fp, " ");
for (int c=0; c<nc; c++) {
for (int c=0; c < nc; c++) {
fprintf(fp, " ");
fprintf(fp, "%d", data[c + r*nc]);
}
@@ -95,9 +95,9 @@ static void printSparse(const char* str, const mjtNum* mat, int nr,
}
fprintf(fp, "%s\n", str);
for (int r=0; r<nr; r++) {
for (int r=0; r < nr; r++) {
fprintf(fp, " ");
for (int adr=rowadr[r]; adr<rowadr[r]+rownnz[r]; adr++) {
for (int adr=rowadr[r]; adr < rowadr[r]+rownnz[r]; adr++) {
fprintf(fp, " ");
fprintf(fp, "%d: ", colind[adr]);
fprintf(fp, float_format, mat[adr]);
@@ -119,7 +119,7 @@ static void printVector(const char* str, const mjtNum* data, int n, FILE* fp,
fprintf(fp, "%s", str);
// print data
for (int i=0; i<n; i++) {
for (int i=0; i < n; i++) {
fprintf(fp, " ");
fprintf(fp, float_format, data[i]);
}
@@ -199,11 +199,11 @@ static bool validateFloatFormat(const char* float_format) {
}
// Clang sometimes goes OOM when the -Wuninitialized warning is enabled for this function
#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wuninitialized"
#endif
// Clang sometimes goes OOM when the -Wuninitialized warning is enabled for this function
#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wuninitialized"
#endif
// print mjModel to text file, specifying format. float_format must be a
@@ -231,7 +231,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// compute total body mass
mjtNum totalmass = 0;
for (int i=0; i<m->nbody; i++) {
for (int i=0; i < m->nbody; i++) {
totalmass += m->body_mass[i];
}
@@ -305,7 +305,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// qpos0
fprintf(fp, NAME_FORMAT, "qpos0");
for (int i=0; i<m->nq; i++) {
for (int i=0; i < m->nq; i++) {
fprintf(fp, float_format, m->qpos0[i]);
fprintf(fp, " ");
}
@@ -313,7 +313,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// qpos_spring
fprintf(fp, NAME_FORMAT, "qpos_spring");
for (int i=0; i<m->nq; i++) {
for (int i=0; i < m->nq; i++) {
fprintf(fp, float_format, m->qpos_spring[i]);
fprintf(fp, " ");
}
@@ -347,7 +347,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
// bodies
for (int i=0; i<m->nbody; i++) {
for (int i=0; i < m->nbody; i++) {
fprintf(fp, "\nBODY %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_bodyadr[i]);
@@ -357,7 +357,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nbody) fprintf(fp, "\n");
// joints
for (int i=0; i<m->njnt; i++) {
for (int i=0; i < m->njnt; i++) {
fprintf(fp, "\nJOINT %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_jntadr[i]);
@@ -367,7 +367,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->njnt) fprintf(fp, "\n");
// dofs
for (int i=0; i<m->nv; i++) {
for (int i=0; i < m->nv; i++) {
fprintf(fp, "\nDOF %d:\n", i);
object_class = &m->nv;
MJMODEL_POINTERS
@@ -375,7 +375,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nv) fprintf(fp, "\n");
// geoms
for (int i=0; i<m->ngeom; i++) {
for (int i=0; i < m->ngeom; i++) {
fprintf(fp, "\nGEOM %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_geomadr[i]);
@@ -385,7 +385,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->ngeom) fprintf(fp, "\n");
// sites
for (int i=0; i<m->nsite; i++) {
for (int i=0; i < m->nsite; i++) {
fprintf(fp, "\nSITE %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_siteadr[i]);
@@ -395,7 +395,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nsite) fprintf(fp, "\n");
// cameras
for (int i=0; i<m->ncam; i++) {
for (int i=0; i < m->ncam; i++) {
fprintf(fp, "\nCAMERA %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_camadr[i]);
@@ -405,7 +405,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->ncam) fprintf(fp, "\n");
// lights
for (int i=0; i<m->nlight; i++) {
for (int i=0; i < m->nlight; i++) {
fprintf(fp, "\nLIGHT %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_lightadr[i]);
@@ -415,13 +415,13 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nlight) fprintf(fp, "\n");
// meshes
for (int i=0; i<m->nmesh; i++) {
for (int i=0; i < m->nmesh; i++) {
fprintf(fp, "\nMESH %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_meshadr[i]);
object_class = &m->nmesh;
MJMODEL_POINTERS
if (m->mesh_graphadr[i]>=0) {
if (m->mesh_graphadr[i] >= 0) {
fprintf(fp, " " NAME_FORMAT, "qhull face");
fprintf(fp, " %d\n", m->mesh_graph[m->mesh_graphadr[i]+1]);
fprintf(fp, " " NAME_FORMAT, "qhull vert");
@@ -431,7 +431,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nmesh) fprintf(fp, "\n");
// skins
for (int i=0; i<m->nskin; i++) {
for (int i=0; i < m->nskin; i++) {
fprintf(fp, "\nSKIN %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_skinadr[i]);
@@ -441,7 +441,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nskin) fprintf(fp, "\n");
// hfields
for (int i=0; i<m->nhfield; i++) {
for (int i=0; i < m->nhfield; i++) {
fprintf(fp, "\nHEIGHTFIELD %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_hfieldadr[i]);
@@ -451,7 +451,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nhfield) fprintf(fp, "\n");
// textures
for (int i=0; i<m->ntex; i++) {
for (int i=0; i < m->ntex; i++) {
fprintf(fp, "\nTEXTURE %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_texadr[i]);
@@ -461,7 +461,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->ntex) fprintf(fp, "\n");
// materials
for (int i=0; i<m->nmat; i++) {
for (int i=0; i < m->nmat; i++) {
fprintf(fp, "\nMATERIAL %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_matadr[i]);
@@ -471,7 +471,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nmat) fprintf(fp, "\n");
// pairs
for (int i=0; i<m->npair; i++) {
for (int i=0; i < m->npair; i++) {
fprintf(fp, "\nPAIR %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_pairadr[i]);
@@ -481,7 +481,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->npair) fprintf(fp, "\n");
// excludes
for (int i=0; i<m->nexclude; i++) {
for (int i=0; i < m->nexclude; i++) {
fprintf(fp, "\nEXCLUDE %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_excludeadr[i]);
@@ -491,7 +491,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nexclude) fprintf(fp, "\n");
// equality constraints
for (int i=0; i<m->neq; i++) {
for (int i=0; i < m->neq; i++) {
fprintf(fp, "\nEQUALITY %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_eqadr[i]);
@@ -501,14 +501,14 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->neq) fprintf(fp, "\n");
// tendons
for (int i=0; i<m->ntendon; i++) {
for (int i=0; i < m->ntendon; i++) {
fprintf(fp, "\nTENDON %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_tendonadr[i]);
object_class = &m->ntendon;
MJMODEL_POINTERS
fprintf(fp, " path \n");
for (int j=0; j<m->tendon_num[i]; j++) {
for (int j=0; j < m->tendon_num[i]; j++) {
int k = m->tendon_adr[i]+j;
fprintf(fp, " %d %d ", m->wrap_type[k], m->wrap_objid[k]);
fprintf(fp, float_format, m->wrap_prm[k]);
@@ -519,7 +519,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->ntendon) fprintf(fp, "\n");
// actuators
for (int i=0; i<m->nu; i++) {
for (int i=0; i < m->nu; i++) {
fprintf(fp, "\nACTUATOR %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_actuatoradr[i]);
@@ -529,7 +529,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nu) fprintf(fp, "\n");
// sensors
for (int i=0; i<m->nsensor; i++) {
for (int i=0; i < m->nsensor; i++) {
fprintf(fp, "\nSENSOR %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_sensoradr[i]);
@@ -539,12 +539,12 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nsensor) fprintf(fp, "\n");
// custom numeric parameters
for (int i=0; i<m->nnumeric; i++) {
for (int i=0; i < m->nnumeric; i++) {
fprintf(fp, "\nNUMERIC %d:\n", i);
fprintf(fp, " name %s\n", m->names + m->name_numericadr[i]);
fprintf(fp, " size %d\n", m->numeric_size[i]);
fprintf(fp, " value ");
for (int j=0; j<m->numeric_size[i]; j++) {
for (int j=0; j < m->numeric_size[i]; j++) {
fprintf(fp, float_format, m->numeric_data[m->numeric_adr[i]+j]);
}
fprintf(fp, "\n");
@@ -552,7 +552,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->nnumeric) fprintf(fp, "\n");
// custom text parameters
for (int i=0; i<m->ntext; i++) {
for (int i=0; i < m->ntext; i++) {
fprintf(fp, "\nTEXT %d:\n", i);
fprintf(fp, " name %s\n", m->names + m->name_textadr[i]);
fprintf(fp, " size %d\n", m->text_size[i]);
@@ -561,12 +561,12 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->ntext) fprintf(fp, "\n");
// custom tuple parameters
for (int i=0; i<m->ntuple; i++) {
for (int i=0; i < m->ntuple; i++) {
fprintf(fp, "\nTUPLE %d:\n", i);
fprintf(fp, " name %s\n", m->names + m->name_tupleadr[i]);
fprintf(fp, " size %d\n", m->tuple_size[i]);
fprintf(fp, " elements\n");
for (int j=m->tuple_adr[i]; j<m->tuple_adr[i]+m->tuple_size[i]; j++) {
for (int j=m->tuple_adr[i]; j < m->tuple_adr[i]+m->tuple_size[i]; j++) {
fprintf(fp, " %s %d, prm = ",
mju_type2Str(m->tuple_objtype[j]), m->tuple_objid[j]);
fprintf(fp, float_format, m->tuple_objprm[j]);
@@ -576,58 +576,58 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
if (m->ntuple) fprintf(fp, "\n");
// keyframes (only if different from default)
for (int i=0; i<m->nkey; i++) {
for (int i=0; i < m->nkey; i++) {
// print name
if (m->names[m->name_keyadr[i]]) {
fprintf(fp, "key_name%d %s\n", i, m->names + m->name_keyadr[i]);
}
// print time if non-0
if (m->key_time[i]!=0) {
if (m->key_time[i] != 0) {
fprintf(fp, "key_time%d %.4f\n", i, m->key_time[i]);
}
// check qpos for difference
int k = 0;
for (int j=0; j<m->nq; j++)
for (int j=0; j < m->nq; j++)
if (m->qpos0[j] != m->key_qpos[i*m->nq + j]) {
k = 1;
}
// print if different
if (k==1) {
if (k == 1) {
fprintf(fp, "key_qpos%d ", i);
for (int j=0; j<m->nq; j++) {
for (int j=0; j < m->nq; j++) {
fprintf(fp, float_format, m->key_qpos[i*m->nq + j]);
}
fprintf(fp, "\n");
}
// check qvel for nonzero
for (int j=0; j<m->nv; j++)
for (int j=0; j < m->nv; j++)
if (m->key_qvel[i*m->nv + j]) {
k = 2;
}
// print if nonzero
if (k==2) {
if (k == 2) {
fprintf(fp, "key_qvel%d ", i);
for (int j=0; j<m->nv; j++) {
for (int j=0; j < m->nv; j++) {
fprintf(fp, float_format, m->key_qvel[i*m->nv + j]);
}
fprintf(fp, "\n");
}
// check act for nonzero
for (int j=0; j<m->na; j++)
for (int j=0; j < m->na; j++)
if (m->key_act[i*m->na + j]) {
k = 3;
}
// print if nonzero
if (k==3) {
if (k == 3) {
fprintf(fp, "key_act%d ", i);
for (int j=0; j<m->na; j++) {
for (int j=0; j < m->na; j++) {
fprintf(fp, float_format, m->key_act[i*m->na + j]);
}
fprintf(fp, "\n");
@@ -635,10 +635,10 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// check mpos for difference
if (m->nmocap) {
for (int j=0; j<m->nbody; j++) {
if (m->body_mocapid[j]>=0) {
for (int j=0; j < m->nbody; j++) {
if (m->body_mocapid[j] >= 0) {
int id = m->body_mocapid[j];
if (m->body_pos[3*j] != m->key_mpos[i*3*m->nmocap + 3*id] ||
if (m->body_pos[3*j] != m->key_mpos[i*3*m->nmocap + 3*id] ||
m->body_pos[3*j+1] != m->key_mpos[i*3*m->nmocap + 3*id+1] ||
m->body_pos[3*j+2] != m->key_mpos[i*3*m->nmocap + 3*id+2]) {
k = 4;
@@ -649,9 +649,9 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
// print if nonzero
if (k==4) {
if (k == 4) {
fprintf(fp, "key_mpos%d ", i);
for (int j=0; j<3*m->nmocap; j++) {
for (int j=0; j < 3*m->nmocap; j++) {
fprintf(fp, float_format, m->key_mpos[i*3*m->nmocap + j]);
}
fprintf(fp, "\n");
@@ -659,10 +659,10 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// check mquat for difference
if (m->nmocap) {
for (int j=0; j<m->nbody; j++) {
if (m->body_mocapid[j]>=0) {
for (int j=0; j < m->nbody; j++) {
if (m->body_mocapid[j] >= 0) {
int id = m->body_mocapid[j];
if (m->body_quat[4*j] != m->key_mquat[i*4*m->nmocap + 4*id] ||
if (m->body_quat[4*j] != m->key_mquat[i*4*m->nmocap + 4*id] ||
m->body_quat[4*j+1] != m->key_mquat[i*4*m->nmocap + 4*id+1] ||
m->body_quat[4*j+2] != m->key_mquat[i*4*m->nmocap + 4*id+2] ||
m->body_quat[4*j+3] != m->key_mquat[i*4*m->nmocap + 4*id+3]) {
@@ -674,16 +674,16 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
// print if nonzero
if (k==5) {
if (k == 5) {
fprintf(fp, "key_mquat%d ", i);
for (int j=0; j<4*m->nmocap; j++) {
for (int j=0; j < 4*m->nmocap; j++) {
fprintf(fp, float_format, m->key_mquat[i*4*m->nmocap + j]);
}
fprintf(fp, "\n");
}
// check ctrl for nonzero
for (int j=0; j<m->nu; j++) {
for (int j=0; j < m->nu; j++) {
if (m->key_ctrl[i*m->nu + j]) {
k = 6;
break;
@@ -691,9 +691,9 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
// print if nonzero
if (k==6) {
if (k == 6) {
fprintf(fp, "key_ctrl%d ", i);
for (int j=0; j<m->nu; j++) {
for (int j=0; j < m->nu; j++) {
fprintf(fp, float_format, m->key_ctrl[i*m->nu + j]);
}
fprintf(fp, "\n");
@@ -790,12 +790,12 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// WARNING
int active_warnings = 0;
for (int i=0; i<mjNWARNING; i++) {
for (int i=0; i < mjNWARNING; i++) {
active_warnings += d->warning[i].number;
}
if (active_warnings) {
fprintf(fp, "WARNING\n");
for (int i=0; i<mjNWARNING; i++)
for (int i=0; i < mjNWARNING; i++)
if (d->warning[i].number)
fprintf(fp, " %d: lastinfo = %d number = %d\n",
i, d->warning[i].lastinfo, d->warning[i].number);
@@ -804,12 +804,12 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// TIMER
mjtNum active_timers = 0;
for (int i=0; i<mjNTIMER; i++) {
for (int i=0; i < mjNTIMER; i++) {
active_timers += d->timer[i].duration;
}
if (active_timers) {
fprintf(fp, "TIMER\n");
for (int i=0; i<mjNTIMER; i++) {
for (int i=0; i < mjNTIMER; i++) {
fprintf(fp, " %d: duration = ", i);
fprintf(fp, float_format, d->timer[i].duration);
fprintf(fp, " number = %d\n", d->timer[i].number);
@@ -822,7 +822,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
fprintf(fp, "SOLVER STAT\n");
fprintf(fp, " solver_iter = %d\n", d->solver_iter);
fprintf(fp, " solver_nnz = %d\n", d->solver_nnz);
for (int i=0; i<mjMIN(mjNSOLVER, d->solver_iter); i++) {
for (int i=0; i < mjMIN(mjNSOLVER, d->solver_iter); i++) {
fprintf(fp, " %d: improvement = ", i);
fprintf(fp, float_format, d->solver[i].improvement);
fprintf(fp, " gradient = ");
@@ -886,11 +886,11 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArrayInt("TEN_J_ROWNNZ", m->ntendon, 1, d->ten_J_rownnz, fp);
printArrayInt("TEN_J_ROWADR", m->ntendon, 1, d->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, d->ten_J_rownnz,
d->ten_J_rowadr, d->ten_J_colind, fp, float_format);
d->ten_J_rowadr, d->ten_J_colind, fp, float_format);
}
for (int i=0; i<m->ntendon; i++) {
for (int i=0; i < m->ntendon; i++) {
fprintf(fp, "TENDON %d: %d wrap points\n", i, d->ten_wrapnum[i]);
for (int j=0; j<d->ten_wrapnum[i]; j++) {
for (int j=0; j < d->ten_wrapnum[i]; j++) {
fprintf(fp, " %d: ", d->wrap_obj[d->ten_wrapadr[i]+j]);
printVector("", d->wrap_xpos+3*(d->ten_wrapadr[i]+j), 3, fp, float_format);
}
@@ -965,7 +965,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// contact
fprintf(fp, "CONTACT\n");
for (int i=0; i<d->ncon; i++) {
for (int i=0; i < d->ncon; i++) {
fprintf(fp, " %d:\n dim %d\n geom ", i, d->contact[i].dim);
const char* geom1 = mj_id2name(m, mjOBJ_GEOM, d->contact[i].geom1);
if (geom1) {
@@ -1066,9 +1066,9 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
#ifdef __clang__
#pragma clang diagnostic pop
#endif
#ifdef __clang__
#pragma clang diagnostic pop
#endif
// print mjData to text file