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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_smooth.c
+5 -5
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@@ -135,7 +135,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown joint type %d", jtype); // SHOULD NOT OCCUR
mjERROR("unknown joint type %d", jtype); // SHOULD NOT OCCUR
}
// assign xanchor and xaxis
@@ -514,7 +514,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
// do wrapping, possibly get 2 extra points (wlen>=0)
sideid = mju_round(m->wrap_prm[adr+j+1]);
if (sideid < -1 || sideid >= m->nsite) {
mju_error("Invalid sideid %d in wrap_prm", sideid); // SHOULD NOT OCCUR
mjERROR("invalid sideid %d in wrap_prm", sideid); // SHOULD NOT OCCUR
}
wlen = mju_wrap(wpnt+3, d->site_xpos+3*id0, d->site_xpos+3*id1,
@@ -943,7 +943,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
mjERROR("unknown transmission type %d", m->actuator_trntype[i]); // SHOULD NOT OCCUR
}
}
@@ -1503,7 +1503,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
int i = 0;
while (i < d->ne) {
if (d->efc_type[i] != mjCNSTR_EQUALITY)
mju_error("Row %d of efc is not an equality constraint", i); // SHOULD NOT OCCUR
mjERROR("row %d of efc is not an equality constraint", i); // SHOULD NOT OCCUR
int id = d->efc_id[i];
mjtNum* eq_data = m->eq_data + mjNEQDATA*id;
@@ -1555,7 +1555,7 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown constraint type type %d", m->eq_type[id]); // SHOULD NOT OCCUR
mjERROR("unknown constraint type type %d", m->eq_type[id]); // SHOULD NOT OCCUR
}
}