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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_solver.c
+13 -13
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@@ -309,7 +309,7 @@ void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
mjtNum *mu, x, denom, improvement;
mjtNum v[6], v1[6], Athis[36], Ac[25], bc[5], res[6], oldforce[6];
mjContact* con;
mjMARKSTACK;
mj_markStack(d);
mjtNum* ARinv = mj_stackAllocNum(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
@@ -497,7 +497,7 @@ void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
// map to joint space
dualFinish(m, d);
mjFREESTACK;
mj_freeStack(d);
}
@@ -511,7 +511,7 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
mjtNum *mu, improvement;
mjtNum v[5], Ac[25], bc[5], res[5], oldforce[5], delta[5], mid, y, K0, K1;
mjContact* con;
mjMARKSTACK;
mj_markStack(d);
mjtNum* ARinv = mj_stackAllocNum(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
@@ -703,7 +703,7 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
// map to joint space
dualFinish(m, d);
mjFREESTACK;
mj_freeStack(d);
}
@@ -1277,7 +1277,7 @@ static mjtNum CGsearch(const mjModel* m, mjData* d, mjCGContext* ctx) {
static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
int nv = m->nv, nefc = d->nefc;
mjtNum local[36];
mjMARKSTACK;
mj_markStack(d);
// storage for L'*J
mjtNum* LTJ = mj_stackAllocNum(d, 6*nv);
@@ -1347,7 +1347,7 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
}
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1355,7 +1355,7 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
// compute and factorize Hessian: direct method
static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
int nv = m->nv, nefc = d->nefc;
mjMARKSTACK;
mj_markStack(d);
// compute D corresponding to quad states
mjtNum* D = mj_stackAllocNum(d, nefc);
@@ -1427,7 +1427,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
ctx->nnz = nv*nv;
}
mjFREESTACK;
mj_freeStack(d);
// add cones if present
if (ctx->ncone) {
@@ -1444,7 +1444,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
static void HessianIncremental(const mjModel* m, mjData* d,
mjCGContext* ctx, const int* oldstate) {
int rank, nv = m->nv, nefc = d->nefc;
mjMARKSTACK;
mj_markStack(d);
// local space
mjtNum* vec = mj_stackAllocNum(d, nv);
@@ -1490,7 +1490,7 @@ static void HessianIncremental(const mjModel* m, mjData* d,
// recompute H directly if accuracy lost
if (rank < nv) {
mjFREESTACK;
mj_freeStack(d);
HessianDirect(m, d, ctx);
// nothing else to do
@@ -1504,7 +1504,7 @@ static void HessianIncremental(const mjModel* m, mjData* d,
HessianCone(m, d, ctx);
}
mjFREESTACK;
mj_freeStack(d);
}
@@ -1515,7 +1515,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int maxiter, int flg_New
mjtNum alpha, beta;
mjtNum *gradold = NULL, *Mgradold = NULL, *Mgraddif = NULL;
mjCGContext ctx;
mjMARKSTACK;
mj_markStack(d);
// allocate context
CGallocate(m, d, &ctx, flg_Newton);
@@ -1625,7 +1625,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int maxiter, int flg_New
d->solver_nnz = 0;
}
mjFREESTACK;
mj_freeStack(d);
}