Move AsVector utility to fixture.h

PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3

test/benchmark/engine_core_smooth_benchmark_test.cc

@@ -14,8 +14,8 @@
 
 // A benchmark for comparing different implementations of mj_solveLD.
 
+#include <vector>
 #include <benchmark/benchmark.h>
-#include <gtest/gtest.h>
 #include <absl/base/attributes.h>
 #include <mujoco/mjdata.h>
 #include <mujoco/mujoco.h>
@@ -30,11 +30,6 @@ static const int kNumWarmupSteps = 200;
 // number of steps to benchmark
 static const int kNumBenchmarkSteps = 50;
 
-// copy array into vector
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 // ----------------------------- old functions --------------------------------
 
 void ABSL_ATTRIBUTE_NOINLINE solveLD_baseline(const mjModel* m, mjtNum* x,

test/benchmark/engine_util_sparse_benchmark_test.cc

@@ -19,7 +19,6 @@
 #include <vector>
 
 #include <benchmark/benchmark.h>
-#include <gtest/gtest.h>
 #include <absl/base/attributes.h>
 #include <mujoco/mjdata.h>
 #include <mujoco/mujoco.h>
@@ -37,11 +36,6 @@ using SqrMatTDFuncPtr = decltype(&mju_sqrMatTDSparse);
 // number of steps to roll out before benchmarking
 static const int kNumWarmupSteps = 500;
 
-// copy array into vector
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 // ----------------------------- old functions --------------------------------
 
 void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(

test/engine/engine_core_constraint_test.cc

@@ -17,7 +17,6 @@
 #include <cstddef>
 #include <cstring>
 #include <string>
-#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -34,10 +33,6 @@ using ::testing::DoubleNear;
 using ::testing::Pointwise;
 using CoreConstraintTest = MujocoTest;
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 // compute rotation residual following formula in mj_instantiateEquality
 void RotationResidual(const mjModel *model, mjData *data,
                         const mjtNum qpos[7], const mjtNum dqpos[6],

test/engine/engine_derivative_test.cc

@@ -86,11 +86,6 @@ static void PrintMatrix(mjtNum* mat, int nrow, int ncol) {
   }
 }
 
-
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 static const char* const kEnergyConservingPendulumPath =
     "engine/testdata/derivative/energy_conserving_pendulum.xml";
 static const char* const kTumblingThinObjectPath =

test/engine/engine_forward_test.cc

@@ -40,10 +40,6 @@
 namespace mujoco {
 namespace {
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 static const char* const kEnergyConservingPendulumPath =
     "engine/testdata/derivative/energy_conserving_pendulum.xml";
 static const char* const kDampedActuatorsPath =

test/engine/engine_solver_test.cc

@@ -15,7 +15,6 @@
 // Tests for engine/engine_solver.c
 
 #include <string>
-#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -25,10 +24,6 @@
 namespace mujoco {
 namespace {
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 using ::testing::DoubleNear;
 using ::testing::NotNull;
 using ::testing::Pointwise;

test/engine/engine_support_test.cc

@@ -37,10 +37,6 @@ using ::testing::Pointwise;
 using ::testing::ElementsAreArray;
 using ::testing::Pointwise;
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 using AngMomMatTest = MujocoTest;
 
 static constexpr char AngMomTestingModel[] = R"(

test/engine/engine_util_solve_test.cc

@@ -36,10 +36,6 @@ using ::std::string;
 using ::std::setw;
 using QCQP2Test = MujocoTest;
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 TEST_F(QCQP2Test, DegenerateAMatrix) {
   // A 2x2 matrix with determinant zero.
   const mjtNum Ain[9] { 6, -15, 2, -5 };

test/engine/engine_util_spatial_test.cc

@@ -15,7 +15,6 @@
 // Tests for engine/engine_util_spatial.c
 
 #include <cmath>
-#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -36,10 +35,6 @@ using ::testing::Pointwise;
 
 using Quat2MatTest = MujocoTest;
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 TEST_F(Quat2MatTest, NoRotation) {
   mjtNum result[9] = {0};
   mjtNum quat[] = {1, 0, 0, 0};

test/fixture.h

@@ -105,6 +105,11 @@ std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
 // Returns the name of the different field and the max difference.
 mjtNum CompareModel(const mjModel* m1, const mjModel* m2, std::string& field);
 
+// Returns a vector containing the elements of the array.
+inline std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
+  return std::vector<mjtNum>(array, array + n);
+}
+
 // Installs a mock filesystem via a resource provider. To obtain thread safety,
 // each filesystem is scoped for individual unit tests with destructive
 // operations not permitted.

test/pipeline_test.cc

@@ -27,10 +27,6 @@
 namespace mujoco {
 namespace {
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 static const char* const kDefaultModel = "testdata/model.xml";
 
 using ::testing::Pointwise;

test/user/user_mesh_test.cc

@@ -67,10 +67,6 @@ static const char* const kDuplicateOBJPath =
 static const char* const kMalformedFaceOBJPath =
     "user/testdata/malformed_face.xml";
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 using ::testing::ElementsAre;
 using ::testing::HasSubstr;
 using ::testing::IsNull;

test/user/user_model_test.cc

@@ -26,7 +26,6 @@
 #include <absl/strings/str_format.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
-#include "src/cc/array_safety.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -44,10 +43,6 @@ static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
                              array + ncolumn * (row + 1));
 }
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 // ----------------------------- test mjCModel  --------------------------------
 
 using UserCModelTest = MujocoTest;

test/user/user_objects_test.cc

@@ -20,7 +20,6 @@
 #include <cstring>
 #include <memory>
 #include <string>
-#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -34,10 +33,6 @@ namespace {
 
 constexpr double kInertiaTol = 1e-6;
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 using std::string;
 using ::testing::DoubleNear;
 using ::testing::ElementsAre;
@@ -2402,7 +2397,8 @@ TEST_F(UserObjectsTest, BadWeld) {
   int len = 4;
 
   // good model using body semantic
-  string xml = base.replace(pos, len, "<weld body1='1' anchor='0 0 1' torquescale='2'/>");
+  string xml = base.replace(pos, len,
+                            "<weld body1='1' anchor='0 0 1' torquescale='2'/>");
   char error[1024];
   mjModel* m = LoadModelFromString(xml.c_str(), error, sizeof(error));
   ASSERT_THAT(m, NotNull()) << error;

test/xml/xml_native_reader_test.cc

@@ -33,10 +33,6 @@
 namespace mujoco {
 namespace {
 
-std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
-}
-
 using ::std::string;
 using ::testing::AllOf;
 using ::testing::ElementsAre;