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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_forward.c
+7 -7
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@@ -279,11 +279,11 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
if (!plugin->compute) {
mju_error("`compute` is a null function pointer for plugin at slot %d", slot);
mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
}
plugin->compute(m, d, i, mjPLUGIN_ACTUATOR);
}
@@ -481,7 +481,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
break;
default:
mju_error("Unknown solver type %d", m->opt.solver);
mjERROR("unknown solver type %d", m->opt.solver);
}
// save result for next step warmstart
@@ -534,7 +534,7 @@ static void mj_advance(const mjModel* m, mjData* d,
const int slot = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
if (!plugin) {
mju_error("invalid plugin slot: %d", slot);
mjERROR("invalid plugin slot: %d", slot);
}
if (plugin->advance) {
plugin->advance(m, d, i);
@@ -624,7 +624,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// check order
if (!A) {
mju_error("Supported RK orders: N=4");
mjERROR("supported RK orders: N=4");
}
// allocate space for intermediate solutions
@@ -758,7 +758,7 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mju_copy(qacc, qfrc, m->nv);
mj_solveLD(m, qacc, 1, d->qH, d->qHDiagInv);
} else {
mju_error("mj_implicitSkip: integrator must be implicit or implicitfast");
mjERROR("integrator must be implicit or implicitfast");
}
// advance state and time
@@ -859,7 +859,7 @@ void mj_step(const mjModel* m, mjData* d) {
break;
default:
mju_error("Invalid integrator");
mjERROR("invalid integrator");
}
TM_END(mjTIMER_STEP);