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Rename mj_stackAlloc to mj_stackAllocNum.

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PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
This commit is contained in:
Saran Tunyasuvunakool
2023-08-29 08:42:05 -07:00
committed by Copybara-Service
parent ea5e00cad8
commit b979a26b10
31 changed files with 187 additions and 185 deletions
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plugin/sensor/touch_grid.cc
+7 -7
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@@ -292,8 +292,8 @@ void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) {
mjtNum* site_mat = d->site_xmat + 9*site_id;
// allocate contact forces and positions
mjtNum* forces = mj_stackAlloc(d, ncon*6);
mjtNum* positions = mj_stackAlloc(d, ncon*3);
mjtNum* forces = mj_stackAllocNum(d, ncon*6);
mjtNum* positions = mj_stackAllocNum(d, ncon*3);
// Get forces and positions in spherical coordinates.
int contact = 0;
@@ -338,12 +338,12 @@ void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) {
}
// Transpose forces.
mjtNum* forcesT = mj_stackAlloc(d, ncon*6);
mjtNum* forcesT = mj_stackAllocNum(d, ncon*6);
mju_transpose(forcesT, forces, ncon, 6);
// Allocate bin edges.
mjtNum* x_edges = mj_stackAlloc(d, size_[0] + 1);
mjtNum* y_edges = mj_stackAlloc(d, size_[1] + 1);
mjtNum* x_edges = mj_stackAllocNum(d, size_[0] + 1);
mjtNum* y_edges = mj_stackAllocNum(d, size_[1] + 1);
// Make bin edges.
BinEdges(x_edges, y_edges, size_, fov_, gamma_);
@@ -415,8 +415,8 @@ void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
mju_mat2Quat(site_quat, site_mat);
// Allocate bin edges.
mjtNum* x_edges = mj_stackAlloc(d, size_[0] + 1);
mjtNum* y_edges = mj_stackAlloc(d, size_[1] + 1);
mjtNum* x_edges = mj_stackAllocNum(d, size_[0] + 1);
mjtNum* y_edges = mj_stackAllocNum(d, size_[1] + 1);
// Make bin edges.
BinEdges(x_edges, y_edges, size_, fov_, gamma_);