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Clean up and standardize mj_printFormattedData

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PiperOrigin-RevId: 793087071
Change-Id: I99d45ccf6591af02ee26e7f800bfbcc872336eb1
This commit is contained in:
Yuval Tassa
2025-08-09 14:02:17 -07:00
committed by Copybara-Service
parent ca4ca173ab
commit 84ba12e7b3
1 changed files with 12 additions and 82 deletions
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src/engine/engine_print.c
+12 -82
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@@ -1138,97 +1138,27 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
// B sparse structure
mj_printSparsity("B: body-dof matrix", m->nbody, m->nv, d->B_rowadr, NULL, d->B_rownnz, NULL,
d->B_colind, fp);
printArrayInt("B_ROWNNZ", 1, m->nbody, d->B_rownnz, fp);
printArrayInt("B_ROWADR", 1, m->nbody, d->B_rowadr, fp);
printArrayInt("B_COLIND", 1, m->nB, d->B_colind, fp);
// B_rownnz
fprintf(fp, NAME_FORMAT, "B_rownnz");
for (int i = 0; i < m->nbody; i++) {
fprintf(fp, " %d", d->B_rownnz[i]);
}
fprintf(fp, "\n\n");
// B_rowadr
fprintf(fp, NAME_FORMAT, "B_rowadr");
for (int i = 0; i < m->nbody; i++) {
fprintf(fp, " %d", d->B_rowadr[i]);
}
fprintf(fp, "\n\n");
// B_colind
fprintf(fp, NAME_FORMAT, "B_colind");
for (int i = 0; i < m->nB; i++) {
fprintf(fp, " %d", d->B_colind[i]);
}
fprintf(fp, "\n\n");
// M sparse structure
mj_printSparsity("M: reduced inertia matrix", m->nv, m->nv, d->M_rowadr, NULL, d->M_rownnz,
NULL, d->M_colind, fp);
fprintf(fp, NAME_FORMAT, "M_rownnz");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->M_rownnz[i]);
}
fprintf(fp, "\n\n");
// C_rowadr
fprintf(fp, NAME_FORMAT, "M_rowadr");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->M_rowadr[i]);
}
fprintf(fp, "\n\n");
// C_colind
fprintf(fp, NAME_FORMAT, "M_colind");
for (int i = 0; i < m->nC; i++) {
fprintf(fp, " %d", d->M_colind[i]);
}
fprintf(fp, "\n\n");
// mapM2M
fprintf(fp, NAME_FORMAT, "mapM2M");
for (int i = 0; i < m->nC; i++) {
fprintf(fp, " %d", d->mapM2M[i]);
}
fprintf(fp, "\n\n");
printArrayInt("M_ROWNNZ", 1, m->nv, d->M_rownnz, fp);
printArrayInt("M_ROWADR", 1, m->nv, d->M_rowadr, fp);
printArrayInt("M_COLIND", 1, m->nC, d->M_colind, fp);
printArrayInt("MAPM2M", 1, m->nC, d->mapM2M, fp);
// D sparse structure
mj_printSparsity("D: dof-dof matrix", m->nv, m->nv,
d->D_rowadr, d->D_diag, d->D_rownnz, NULL, d->D_colind, fp);
// D_rownnz
fprintf(fp, NAME_FORMAT, "D_rownnz");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->D_rownnz[i]);
}
fprintf(fp, "\n\n");
// D_rowadr
fprintf(fp, NAME_FORMAT, "D_rowadr");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->D_rowadr[i]);
}
fprintf(fp, "\n\n");
// D_colind
fprintf(fp, NAME_FORMAT, "D_colind");
for (int i = 0; i < m->nD; i++) {
fprintf(fp, " %d", d->D_colind[i]);
}
fprintf(fp, "\n\n");
// mapM2D
fprintf(fp, NAME_FORMAT, "mapM2D");
for (int i = 0; i < m->nD; i++) {
fprintf(fp, " %d", d->mapM2D[i]);
}
fprintf(fp, "\n\n");
// mapD2M
fprintf(fp, NAME_FORMAT, "mapD2M");
for (int i = 0; i < m->nM; i++) {
fprintf(fp, " %d", d->mapD2M[i]);
}
fprintf(fp, "\n\n");
printArrayInt("D_ROWNNZ", 1, m->nv, d->D_rownnz, fp);
printArrayInt("D_ROWADR", 1, m->nv, d->D_rowadr, fp);
printArrayInt("D_COLIND", 1, m->nD, d->D_colind, fp);
printArrayInt("MAPM2D", 1, m->nD, d->mapM2D, fp);
printArrayInt("MAPD2M", 1, m->nM, d->mapD2M, fp);
// print qDeriv
if (!mju_isZero(d->qDeriv, m->nD)) {