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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_sensor.c
+2 -2
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@@ -47,7 +47,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
// real or positive: add noise directly, with clamp for positive
if (m->sensor_datatype[i]==mjDATATYPE_REAL ||
m->sensor_datatype[i]==mjDATATYPE_POSITIVE)
m->sensor_datatype[i]==mjDATATYPE_POSITIVE) {
for (int j=0; j<dim; j++) {
// get random numbers; use only the first one
rnd[0] = mju_standardNormal(rnd+1);
@@ -65,6 +65,7 @@ static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
d->sensordata[adr+j] += rnd[0]*noise;
}
}
}
// axis or quat: rotate around random axis by random angle
else {
@@ -114,7 +115,6 @@ static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
// process all dimensions
for (int j=0; j<dim; j++) {
// real: apply on both sides
if (m->sensor_datatype[i]==mjDATATYPE_REAL) {
d->sensordata[adr+j] = mju_clip(d->sensordata[adr+j], -cutoff, cutoff);