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replace array on stack with std::vector

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This commit is contained in:
Levi Burner
2024-11-26 13:16:05 -05:00
parent bd361447bb
commit 5ba4d58497
1 changed files with 3 additions and 2 deletions
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python/mujoco/rollout.cc
+3 -2
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@@ -54,7 +54,7 @@ Roll out open-loop trajectories from initial states, get resulting states and se
// C-style rollout function, assumes all arguments are valid // C-style rollout function, assumes all arguments are valid
// all input fields of d are initialised, contents at call time do not matter // all input fields of d are initialised, contents at call time do not matter
// after returning, d will contain the last step of the last rollout // after returning, d will contain the last step of the last rollout
void _unsafe_rollout(const mjModel** m, mjData* d, int nroll, int nstep, unsigned int control_spec, void _unsafe_rollout(std::vector<const mjModel*>& m, mjData* d, int nroll, int nstep, unsigned int control_spec,
const mjtNum* state0, const mjtNum* warmstart0, const mjtNum* control, const mjtNum* state0, const mjtNum* warmstart0, const mjtNum* control,
mjtNum* state, mjtNum* sensordata) { mjtNum* state, mjtNum* sensordata) {
// sizes // sizes
@@ -198,7 +198,8 @@ PYBIND11_MODULE(_rollout, pymodule) {
) { ) {
// get raw pointers // get raw pointers
int nroll = state0.shape(0); int nroll = state0.shape(0);
const raw::MjModel* model_ptrs[nroll]; std::vector<const raw::MjModel*> model_ptrs;
model_ptrs.reserve(nroll);
for (int r = 0; r < nroll; r++) { for (int r = 0; r < nroll; r++) {
model_ptrs[r] = m[r].cast<const MjModelWrapper*>()->get(); model_ptrs[r] = m[r].cast<const MjModelWrapper*>()->get();
} }