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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_util_solve.c
+12 -13
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@@ -161,7 +161,7 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
// check
if (rownnz[r] == 0 || colind[rowadr[r]+rownnz[r]-1] != r) {
mju_error("Matrix must have non-zero diagonal in mju_cholFactorSparse");
mjERROR("matrix must have non-zero diagonal");
}
}
@@ -284,7 +284,7 @@ int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
// check for size change
if (new_nnz != nnz-1) {
mju_error("Varying sparsity pattern in mju_cholUpdateSparse");
mjERROR("varying sparsity pattern");
}
// update x: x(1:r-1) = c*x(1:r-1) - s*mat(r,1:r-1)
@@ -603,12 +603,12 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
// make sure ii is on diagonal
if (colind[ii] != i) {
mju_error("missing diagonal element in mju_factorLUSparse");
mjERROR("missing diagonal element");
}
// make sure diagonal is not too small
if (mju_abs(LU[ii]) < mjMINVAL) {
mju_error("diagonal element too small in mju_factorLUSparse");
mjERROR("diagonal element too small");
}
// rows j above i
@@ -642,13 +642,13 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
// only (i,k) non-zero
else {
mju_error("mju_factorLUSparse requires fill-in");
mjERROR("requires fill-in");
}
}
// make sure both rows fully processed
if (icnt != rowadr[i]+remaining[i] || jcnt != rowadr[j]+remaining[j]) {
mju_error("row processing incomplete in mju_factorLUSparse");
mjERROR("row processing incomplete");
}
}
}
@@ -657,7 +657,7 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
// make sure remaining points to diagonal
for (int i=0; i < n; i++) {
if (remaining[i] < 0 || colind[rowadr[i]+remaining[i]] != i) {
mju_error("unexpected sparse matrix structure in mju_factorLUSparse");
mjERROR("unexpected sparse matrix structure");
}
}
}
@@ -681,7 +681,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
// make sure j points to diagonal
if (colind[rowadr[i]+j] != i) {
mju_error("diagonal of U not reached in mju_factorLUSparse");
mjERROR("diagonal of U not reached");
}
}
@@ -699,7 +699,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
// make sure j points to diagonal
if (colind[rowadr[i]+j] != i) {
mju_error("diagonal of L not reached in mju_factorLUSparse");
mjERROR("diagonal of L not reached");
}
}
}
@@ -975,7 +975,7 @@ int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
// check size
if (n > 5) {
mju_error("mju_QCQP supports n up to 5");
mjERROR("n is only supported up to 5");
}
// scale A,b so that constraint becomes x'*x <= r*r
@@ -1151,12 +1151,12 @@ int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index, // outputs
// basic checks
if (n <= 0) {
mju_error("mju_boxQP: problem size n must be positive");
mjERROR("problem size n must be positive");
}
if (upper && lower) {
for (int i=0; i < n; i++) {
if (lower[i] >= upper[i]) {
mju_error("mju_boxQP: upper bounds must be stricly larger than lower bounds");
mjERROR("upper bounds must be stricly larger than lower bounds");
}
}
}
@@ -1390,4 +1390,3 @@ int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index, // outputs
// return nf or -1 if failure
return (status == mjBOXQP_NO_DESCENT || status == mjBOXQP_NOT_SPD) ? -1 : nfree;
}