Fix a couple of mjtNum build errors.

PiperOrigin-RevId: 645024056
Change-Id: Id283f550a4e2d927c214a86e77d42b90fb02824e

test/engine/engine_plugin_test.cc

@@ -240,7 +240,7 @@ int RegisterSensorPlugin() {
     TestSensor::DestroyCount()++;
   };
 
-  plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
+  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
                      int instance) {
     auto sensor = reinterpret_cast<TestSensor*>(plugin_data);
     sensor->Reset();
@@ -283,7 +283,7 @@ int RegisterActuatorPlugin() {
     TestActuator::DestroyCount()++;
   };
 
-  plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
+  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
                      int instance) {
     auto actuator = reinterpret_cast<TestActuator*>(plugin_data);
     actuator->Reset();
@@ -338,7 +338,7 @@ int RegisterPassivePlugin() {
     d->plugin_data[instance] = 0;
   };
 
-  plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
+  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
                      int instance) {
     auto passive = reinterpret_cast<TestPassive*>(plugin_data);
     passive->Reset();

test/engine/engine_support_test.cc

@@ -546,13 +546,13 @@ TEST_F(AddMTest, DenseSameAsSparse) {
   }
 
   // dense zero matrix
-  std::vector<mjtNum> dst_sparse = std::vector(nv * nv, 0.0);
+  std::vector<mjtNum> dst_sparse(nv * nv, 0.0);
 
   // sparse zero matrix
-  std::vector<mjtNum> dst_dense = std::vector(nv * nv, 0.0);
-  std::vector<int> rownnz = std::vector(nv, nv);
-  std::vector<int> rowadr = std::vector(nv, 0);
-  std::vector<int> colind = std::vector(nv * nv, 0);
+  std::vector<mjtNum> dst_dense(nv * nv, 0.0);
+  std::vector<int> rownnz(nv, nv);
+  std::vector<int> rowadr(nv, 0);
+  std::vector<int> colind(nv * nv, 0);
 
   // set sparse structure
   for (int i = 0; i < nv; i++) {

test/engine/engine_util_spatial_test.cc

@@ -166,38 +166,38 @@ TEST_F(Euler2QuatTest, BadSeqLength) {
 }
 
 TEST_F(Euler2QuatTest, Euler2Quat) {
-  double quat[4] = {0};
-  double tol = 1e-14;
+  mjtNum quat[4] = {0};
+  mjtNum tol = 1e-14;
 
   char seq[] = "xyz";
-  double euler[3] = {mjPI, 0, 0};
-  double expected[4] = {0, 1, 0, 0};
+  mjtNum euler[3] = {mjPI, 0, 0};
+  mjtNum expected[4] = {0, 1, 0, 0};
   mju_euler2Quat(quat, euler, seq);
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected));
 
   euler[1] = mjPI;
-  double expected2[4] = {0, 0, 0, 1};
+  mjtNum expected2[4] = {0, 0, 0, 1};
   mju_euler2Quat(quat, euler, seq);
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected2));
 
   char seq2[] = "XYZ";
-  double expected3[4] = {0, 0, 0, -1};
+  mjtNum expected3[4] = {0, 0, 0, -1};
   mju_euler2Quat(quat, euler, seq2);
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected3));
 
-  double euler2[3] = {2*mjPI, 2*mjPI, 2*mjPI};
-  double expected4[4] = {-1, 0, 0, 0};
+  mjtNum euler2[3] = {2*mjPI, 2*mjPI, 2*mjPI};
+  mjtNum expected4[4] = {-1, 0, 0, 0};
   mju_euler2Quat(quat, euler2, seq);
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected4));
   mju_euler2Quat(quat, euler2, seq2);
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected4));
 
-  double euler3[3] = {mjPI/2, mjPI/2, mjPI/2};
-  double expected5[4] = {0, mju_sqrt(.5), 0, mju_sqrt(.5)};
+  mjtNum euler3[3] = {mjPI/2, mjPI/2, mjPI/2};
+  mjtNum expected5[4] = {0, mju_sqrt(.5), 0, mju_sqrt(.5)};
   mju_euler2Quat(quat, euler3, seq);
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected5));
   mju_euler2Quat(quat, euler3, seq2);
-  double expected6[4] = {mju_sqrt(.5), 0, mju_sqrt(.5), 0};
+  mjtNum expected6[4] = {mju_sqrt(.5), 0, mju_sqrt(.5), 0};
   EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected6));
 }
 

test/fixture.cc

@@ -177,6 +177,17 @@ std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
   return ctrl;
 }
 
+template <typename T>
+auto Compare(T val1, T val2);
+
+auto Compare(char val1, char val2) {
+  return val1 != val2;
+}
+
+auto Compare(unsigned char val1, unsigned char val2) {
+  return val1 != val2;
+}
+
 // The maximum spacing between a normalised floating point number x and an
 // adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
 // for losses during non-idempotent operations such as vector normalizations.
@@ -185,13 +196,13 @@ auto Compare(T val1, T val2) {
   using ReturnType =
       std::conditional_t<std::is_same_v<T, float>, float, double>;
   ReturnType error;
-  if (mju_abs(val1) <= 1 || mju_abs(val2) <= 1) {
+  if (std::abs(val1) <= 1 || std::abs(val2) <= 1) {
       // Absolute precision for small numbers
-      error = mju_abs(val1-val2);
+      error = std::abs(val1-val2);
   } else {
     // Relative precision for larger numbers
-    ReturnType magnitude = mju_abs(val1) + mju_abs(val2);
-    error = mju_abs(val1/magnitude - val2/magnitude) / magnitude;
+    ReturnType magnitude = std::abs(val1) + std::abs(val2);
+    error = std::abs(val1/magnitude - val2/magnitude) / magnitude;
   }
   ReturnType safety_factor = 200;
   return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()

test/user/user_mesh_test.cc

@@ -873,8 +873,8 @@ TEST_F(MjCMeshTest, MeshPosQuat) {
 
   // Apply the inverted mesh_pos and inverted mesh_quat to the geom's pos and
   // quat. It should match the originally specified values.
-  double recovered_pos[3];
-  double recovered_quat[4];
+  mjtNum recovered_pos[3];
+  mjtNum recovered_quat[4];
   mju_mulPose(recovered_pos, recovered_quat,
               &model->geom_pos[0], &model->geom_quat[0],
               inverse_mesh_pos, inverse_mesh_quat);