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Remove mjMARKSTACK and mjFREESTACK macros.

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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
This commit is contained in:
Saran Tunyasuvunakool
2023-09-05 11:41:01 -07:00
committed by Copybara-Service
parent 329ed193ac
commit 4929077211
35 changed files with 239 additions and 258 deletions
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plugin/sensor/touch_grid.cc
+8 -10
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@@ -19,10 +19,8 @@
#include <cstdint>
#include <cstdlib>
#include <sstream>
#include <iostream>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
@@ -249,7 +247,7 @@ TouchGrid::TouchGrid(const mjModel* m, mjData* d, int instance, int nchannel,
void TouchGrid::Reset(const mjModel* m, int instance) {}
void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) {
mjMARKSTACK;
mj_markStack(d);
// Get sensor id.
int id;
@@ -283,7 +281,7 @@ void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) {
// No contacts, return.
if (!ncon) {
mjFREESTACK;
mj_freeStack(d);
return;
}
@@ -372,7 +370,7 @@ void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
// Thickness of taxel-visualization boxes relative to contact distance.
@@ -380,7 +378,7 @@ static const mjtNum kRelativeThickness = 0.02;
void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
mjvScene* scn, int instance) {
mjMARKSTACK;
mj_markStack(d);
// Get sensor id.
int id;
@@ -403,7 +401,7 @@ void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
// If no normal force readings, quick return.
if (!maxval) {
mjFREESTACK;
mj_freeStack(d);
return;
}
@@ -430,7 +428,7 @@ void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
}
if (scn->ngeom >= scn->maxgeom) {
mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
mjFREESTACK;
mj_freeStack(d);
return;
} else {
// size
@@ -478,7 +476,7 @@ void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
}
}
mjFREESTACK;
mj_freeStack(d);
}