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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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src/engine/engine_derivative_fd.c
+10 -10
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@@ -197,7 +197,7 @@ static void inverseSkip(const mjModel* m, mjData* d, mjtStage stage, int skipsen
void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
int nv = m->nv;
mjMARKSTACK;
mj_markStack(d);
mjtNum* qfrc_passive = mj_stackAllocNum(d, nv);
mjtNum* fd = mj_stackAllocNum(d, nv);
int* cnt = mj_stackAllocInt(d, nv);
@@ -237,7 +237,7 @@ void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
// restore
mj_fwdVelocity(m, d);
mjFREESTACK;
mj_freeStack(d);
}
@@ -248,7 +248,7 @@ void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
int nv = m->nv;
mjMARKSTACK;
mj_markStack(d);
mjtNum* plus = mj_stackAllocNum(d, nv);
mjtNum* minus = mj_stackAllocNum(d, nv);
mjtNum* fd = mj_stackAllocNum(d, nv);
@@ -303,7 +303,7 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
mj_fwdVelocity(m, d);
mj_fwdActuation(m, d);
mjFREESTACK;
mj_freeStack(d);
}
@@ -330,7 +330,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
mjtNum* DsDq, mjtNum* DsDv, mjtNum* DsDa, mjtNum* DsDu) {
int nq = m->nq, nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
int ndx = 2*nv+na; // row length of Dy Jacobians
mjMARKSTACK;
mj_markStack(d);
// states
mjtNum *state = mj_stackAllocNum(d, nq+nv+na); // current state
@@ -558,7 +558,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -580,7 +580,7 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_cente
mjtNum *DyDq, *DyDv, *DyDa, *DsDq, *DsDv, *DsDa;
DyDq = DyDv = DyDa = DsDq = DsDv = DsDa = NULL;
mjMARKSTACK;
mj_markStack(d);
// allocate transposed matrices
mjtNum *AT = A ? mj_stackAllocNum(d, ndx*ndx) : NULL; // state-transition matrix (transposed)
@@ -611,7 +611,7 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_cente
if (C) mju_transpose(C, CT, ndx, ns);
if (D) mju_transpose(D, DT, nu, ns);
mjFREESTACK;
mj_freeStack(d);
}
// finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)
@@ -648,7 +648,7 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
int skipsensor = !DsDq && !DsDv && !DsDa;
// local vectors
mjMARKSTACK;
mj_markStack(d);
mjtNum *pos = mj_stackAllocNum(d, nq); // position
mjtNum *force = mj_stackAllocNum(d, nv); // force
mjtNum *force_plus = mj_stackAllocNum(d, nv); // nudged force
@@ -731,5 +731,5 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
}
}
mjFREESTACK;
mj_freeStack(d);
}