Add mj_markStack and mj_freeStack as public API functions.

Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function). PiperOrigin-RevId: 562625645 Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
2023-09-04 17:03:23 -07:00
parent 9308e1d383
commit 94a8705ad0
17 changed files with 311 additions and 45 deletions
@@ -1232,6 +1232,25 @@ mj_resetDataKeyframe

 Reset data, set fields from specified keyframe.

+.. _mj_markStack:
+
+mj_markStack
+~~~~~~~~~~~~
+
+.. mujoco-include:: mj_markStack
+
+Mark a new frame on the :ref:`mjData` stack.
+
+.. _mj_freeStack:
+
+mj_freeStack
+~~~~~~~~~~~~
+
+.. mujoco-include:: mj_freeStack
+
+Free the current :ref:`mjData` stack frame. All pointers returned by mj_stackAlloc since the last call
+to mj_markStack must no longer be used afterwards.
+
 .. _mj_stackAlloc:

 mj_stackAlloc