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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_derivative_fd.c
+4 -4
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@@ -169,7 +169,7 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
break;
default:
mju_error("Invalid integrator");
mjERROR("invalid integrator");
}
TM_END(mjTIMER_STEP);
@@ -294,7 +294,7 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
// make sure final row counters equal rownnz
for (int i=0; i < nv; i++) {
if (cnt[i] != d->D_rownnz[i]) {
mju_error("error in constructing FD sparse derivative");
mjERROR("error in constructing FD sparse derivative");
}
}
@@ -637,11 +637,11 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
mjMARKSTACK;
if (m->opt.integrator == mjINT_RK4) {
mju_error("RK4 integrator is not supported by mjd_inverseFD");
mjERROR("RK4 integrator is not supported");
}
if (m->opt.noslip_iterations) {
mju_error("The noslip solver is not supported by mjd_inverseFD");
mjERROR("noslip solver is not supported");
}
// skip sensor computations if no sensor Jacobians requested