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Miscellaneous linting in src/engine.

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PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
This commit is contained in:
Saran Tunyasuvunakool
2022-07-21 10:16:08 -07:00
committed by Copybara-Service
parent eef473b1e1
commit b849023069
19 changed files with 329 additions and 416 deletions
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src/engine/engine_derivative.c
+9 -11
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@@ -345,7 +345,7 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
}
// use selected integrator
switch(m->opt.integrator) {
switch (m->opt.integrator) {
case mjINT_EULER:
mj_EulerSkip(m, d, skipstage >= mjSTAGE_POS);
break;
@@ -573,7 +573,6 @@ static void addJTBJSparse(mjtNum* DfDv, const mjtNum* J, const mjtNum* B,
for (int i=0; i<n; i++) {
for (int j=0; j<n; j++) {
if (B[i*n+j]) {
// process non-zero elements of J(i,k)
for (int k=0; k<rownnz[offset+i]; k++) {
int ik = rowadr[offset+i] + k;
@@ -660,7 +659,7 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
}
// compute FVL and scale, make it negative
return -force*FL*dFV/mjMAX(mjMINVAL,L0*vmax);
return -force*FL*dFV/mjMAX(mjMINVAL, L0*vmax);
}
@@ -758,7 +757,7 @@ static void mjd_addedMassForces(
mjtNum* restrict B, const mjtNum local_vels[6], const mjtNum fluid_density,
const mjtNum virtual_mass[3], const mjtNum virtual_inertia[3]) {
const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};;
const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};
const mjtNum virtual_lin_mom[3] = {
fluid_density * virtual_mass[0] * lin_vel[0],
fluid_density * virtual_mass[1] * lin_vel[1],
@@ -1057,9 +1056,9 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, mjtNum* DfDv, int bodyid) {
mju_zero(wind, 6);
mju_copy3(wind+3, m->opt.wind);
mju_transformSpatial(lwind, wind, 0,
d->geom_xpos + 3*geomid, // Frame of ref's origin.
d->geom_xpos + 3*geomid, // Frame of ref's origin.
d->subtree_com + 3*m->body_rootid[bodyid],
d->geom_xmat + 9*geomid); // Frame of ref's orientation.
d->geom_xmat + 9*geomid); // Frame of ref's orientation.
// subtract translational component from grom velocity
mju_subFrom3(lvel+3, lwind+3);
@@ -1484,10 +1483,10 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
mjMARKSTACK;
// states
mjtNum *state = mj_stackAlloc(d, nq+nv+na); // current state
mjtNum *next = mj_stackAlloc(d, nq+nv+na); // next state
mjtNum *next_plus = mj_stackAlloc(d, nq+nv+na); // forward-nudged next state
mjtNum *next_minus = mj_stackAlloc(d, nq+nv+na); // backward-nudged next state
mjtNum *state = mj_stackAlloc(d, nq+nv+na); // current state
mjtNum *next = mj_stackAlloc(d, nq+nv+na); // next state
mjtNum *next_plus = mj_stackAlloc(d, nq+nv+na); // forward-nudged next state
mjtNum *next_minus = mj_stackAlloc(d, nq+nv+na); // backward-nudged next state
// warmstart accelerations
mjtNum *warmstart = mjDISABLED(mjDSBL_WARMSTART) ? NULL : mj_stackAlloc(d, nv);
@@ -1567,7 +1566,6 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
// finite-difference activations: skip=mjSTAGE_VEL
if (DyDa || DsDa) {
for (int i=0; i<na; i++) {
// nudge forward
d->act[i] += eps;