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Add engine internal error macro mjERROR to prepend calling function to error function.

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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
This commit is contained in:
Kyle Bayes
2023-06-19 03:28:44 -07:00
committed by Copybara-Service
parent c9e9cd8b35
commit ac1f41160d
28 changed files with 218 additions and 162 deletions
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src/engine/engine_core_constraint.c
+10 -10
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@@ -203,7 +203,7 @@ int mj_addConstraint(const mjModel* m, mjData* d,
// chain required in sparse mode
if (NV && !chain) {
mju_error("Sparse mj_addConstraint called with dense arguments");
mjERROR("called with dense arguments");
}
// process size elements
@@ -556,7 +556,7 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
break;
default: // SHOULD NOT OCCUR
mju_error("Invalid equality constraint type %d", m->eq_type[i]);
mjERROR("invalid equality constraint type %d", m->eq_type[i]);
}
// add constraint
@@ -932,7 +932,7 @@ void mj_diagApprox(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
mjERROR("unknown constraint type type %d", d->efc_type[i]); // SHOULD NOT OCCUR
}
break;
@@ -1646,29 +1646,29 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
// check sparse allocation
if (mj_isSparse(m)) {
if (d->ne != ne_allocated) {
mju_error("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
mjERROR("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
}
if (d->nf != nf_allocated) {
mju_error("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
mjERROR("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
}
// check that nefc was computed correctly
if (d->nefc != nefc_allocated) {
mju_error("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
mjERROR("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
}
// check that nnzJ was computed correctly
if (d->nefc > 0) {
int nnzJ = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
if (d->nnzJ != nnzJ) {
mju_error("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
nnzJ, d->nnzJ);
mjERROR("constraint Jacobian mis-allocation: found nnzJ=%d but allocated %d",
nnzJ, d->nnzJ);
}
}
} else if (d->nefc > nefc_allocated) {
mju_error("nefc under-allocation: found nefc=%d but allocated only %d",
d->nefc, nefc_allocated);
mjERROR("nefc under-allocation: found nefc=%d but allocated only %d",
d->nefc, nefc_allocated);
}
// collect memory use statistics