Remove mjMARKSTACK and mjFREESTACK macros.

PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458

test/benchmark/engine_core_smooth_benchmark_test.cc

@@ -105,13 +105,13 @@ static void BM_solveLD(benchmark::State& state, bool new_function) {
   static mjModel* m = LoadModelFromPath("composite/cloth.xml");
   mjData* d = mj_makeData(m);
 
-  // warm-up rollout to get a typcal state
+  // warm-up rollout to get a typical state
   for (int i=0; i < kNumWarmupSteps; i++) {
     mj_step(m, d);
   }
 
-  // allocate gadient
-  mjMARKSTACK;
+  // allocate gradient
+  mj_markStack(d);
   mjtNum *grad = mj_stackAllocNum(d, m->nv);
   mjtNum *Ma = mj_stackAllocNum(d, m->nv);
   mjtNum *res = mj_stackAllocNum(d, m->nv);
@@ -145,7 +145,7 @@ static void BM_solveLD(benchmark::State& state, bool new_function) {
   }
 
   // finalize
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   state.SetItemsProcessed(state.iterations());
 }

test/benchmark/engine_util_sparse_benchmark_test.cc

@@ -15,6 +15,9 @@
 // A benchmark for comparing different implementations of mj_solveLD.
 
 #include <cstddef>
+#include <cstring>
+#include <vector>
+
 #include <benchmark/benchmark.h>
 #include <gtest/gtest.h>
 #include <absl/base/attributes.h>
@@ -47,7 +50,7 @@ void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
     const int* rownnz, const int* rowadr, const int* colind,
     const int* rowsuper, const int* rownnzT, const int* rowadrT,
     const int* colindT, const int* rowsuperT, mjData* d) {
-  mjMARKSTACK;
+  mj_markStack(d);
   int* chain = mj_stackAllocInt(d, 2 * nc);
   mjtNum* buffer = mj_stackAllocNum(d, nc);
 
@@ -149,7 +152,7 @@ void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
     }
   }
 
-  mjFREESTACK;
+  mj_freeStack(d);
 }
 
 // transpose sparse matrix (uncompressed)
@@ -354,7 +357,7 @@ static void BM_MatVecSparse(benchmark::State& state, int unroll) {
   }
 
   // allocate gradient
-  mjMARKSTACK;
+  mj_markStack(d);
   mjtNum *Ma = mj_stackAllocNum(d, m->nv);
   mjtNum *vec = mj_stackAllocNum(d, m->nv);
   mjtNum *res = mj_stackAllocNum(d, d->nefc);
@@ -395,7 +398,7 @@ static void BM_MatVecSparse(benchmark::State& state, int unroll) {
   }
 
   // finalize
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   state.SetItemsProcessed(state.iterations());
 }
@@ -433,7 +436,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
   }
 
   // allocate
-  mjMARKSTACK;
+  mj_markStack(d);
   mjtNum* H = mj_stackAllocNum(d, m->nv*m->nv);
   int* rownnz = mj_stackAllocInt(d, m->nv);
   int* rowadr = mj_stackAllocInt(d, m->nv);
@@ -478,7 +481,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
   }
 
   // finalize
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   state.SetItemsProcessed(state.iterations());
 }
@@ -510,7 +513,7 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
     mj_step(m, d);
   }
 
-  mjMARKSTACK;
+  mj_markStack(d);
 
   // need uncompressed layout
   mjtNum* res = mj_stackAllocNum(d, m->nv * d->nefc);
@@ -524,7 +527,7 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
          d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
   }
 
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   state.SetItemsProcessed(state.iterations());
 }
@@ -556,7 +559,7 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
   }
 
   // allocate
-  mjMARKSTACK;
+  mj_markStack(d);
   mjtNum* H = mj_stackAllocNum(d, m->nv * m->nv);
   int* rownnz = mj_stackAllocInt(d, m->nv);
   int* rowadr = mj_stackAllocInt(d, m->nv);
@@ -598,7 +601,7 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
   }
 
   // finalize
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   state.SetItemsProcessed(state.iterations());
 }

test/engine/engine_derivative_test.cc

@@ -14,7 +14,10 @@
 
 // Tests for engine/engine_derivative.c.
 
+#include <iomanip>
+#include <iostream>
 #include <random>
+#include <string>
 #include <vector>
 
 #include <gmock/gmock.h>
@@ -287,7 +290,7 @@ TEST_F(DerivativeTest, StepSkip) {
 static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
   int nv = m->nv, nu = m->nu;
   mjtNum dt = m->opt.timestep;
-  mjMARKSTACK;
+  mj_markStack(d);
 
   // === state-transition matrix A
   if (A) {
@@ -330,7 +333,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
     mju_scl(B+nu*nv, BcT, dt, nu*nv);
   }
 
-  mjFREESTACK;
+  mj_freeStack(d);
 }
 
 // compare FD derivatives to analytic derivatives of linear dynamical system

test/engine/engine_util_container_test.cc

@@ -50,7 +50,7 @@ TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
   mjModel* m = LoadModelFromString("<mujoco/>", error.data(), error.size());
   ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
   mjData* d = mj_makeData(m);
-  mjMARKSTACK;
+  mj_markStack(d);
 
   using DataType = int;
   constexpr int kInitialCapacity = 10;
@@ -76,7 +76,7 @@ TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
   EXPECT_EQ(mju_arrayListAt(array_list, kNumElements), nullptr);
   EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
 
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   mj_deleteModel(m);
 }
@@ -85,7 +85,7 @@ TEST(TestMjArrayList, ZeroInitialCapacity) {
   mjModel* m = LoadModelFromString("<mujoco/>", nullptr, 0);
   ASSERT_THAT(m, NotNull()) << "Failed to load model";
   mjData* d = mj_makeData(m);
-  mjMARKSTACK;
+  mj_markStack(d);
   mjArrayList* array_list =
       mju_arrayListCreate(d, sizeof(double), /*initial_capacity=*/0);
   EXPECT_EQ(mju_arrayListSize(array_list), 0);
@@ -101,7 +101,7 @@ TEST(TestMjArrayList, ZeroInitialCapacity) {
   }
   EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
 
-  mjFREESTACK;
+  mj_freeStack(d);
   mj_deleteData(d);
   mj_deleteModel(m);
 }