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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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src/engine/engine_core_smooth.c
+19 -19
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@@ -179,7 +179,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
void mj_comPos(const mjModel* m, mjData* d) {
mjtNum offset[3], axis[3];
mjMARKSTACK;
mjtNum* mass_subtree = mj_stackAlloc(d, m->nbody);
mjtNum* mass_subtree = mj_stackAllocNum(d, m->nbody);
// clear subtree
mju_zero(mass_subtree, m->nbody);
@@ -401,14 +401,14 @@ void mj_tendon(const mjModel* m, mjData* d) {
}
// allocate space
jac1 = mj_stackAlloc(d, 3*nv);
jac2 = mj_stackAlloc(d, 3*nv);
jacdif = mj_stackAlloc(d, 3*nv);
tmp = mj_stackAlloc(d, nv);
jac1 = mj_stackAllocNum(d, 3*nv);
jac2 = mj_stackAllocNum(d, 3*nv);
jacdif = mj_stackAllocNum(d, 3*nv);
tmp = mj_stackAllocNum(d, nv);
if (issparse) {
chain = mj_stackAllocInt(d, nv);
buf_ind = mj_stackAllocInt(d, nv);
sparse_buf = mj_stackAlloc(d, nv);
sparse_buf = mj_stackAllocNum(d, nv);
}
// clear results
@@ -629,9 +629,9 @@ void mj_transmission(const mjModel* m, mjData* d) {
}
// allocate space, clear moments
jac = mj_stackAlloc(d, 3*nv);
jacA = mj_stackAlloc(d, 3*nv);
jacS = mj_stackAlloc(d, 3*nv);
jac = mj_stackAllocNum(d, 3*nv);
jacA = mj_stackAllocNum(d, 3*nv);
jacS = mj_stackAllocNum(d, 3*nv);
mju_zero(moment, nu*nv);
// define variables required for body transmission, don't allocate
@@ -804,7 +804,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
// reference site defined
else {
int refid = m->actuator_trnid[2*i+1];
if (!jacref) jacref = mj_stackAlloc(d, 3*nv);
if (!jacref) jacref = mj_stackAllocNum(d, 3*nv);
// clear length
length[i] = 0;
@@ -855,7 +855,7 @@ void mj_transmission(const mjModel* m, mjData* d) {
mju_rotVecMat(wrench, gear+3, d->site_xmat+9*refid);
// moment_tmp: global Jacobian projected on wrench, add to moment
if (!moment_tmp) moment_tmp = mj_stackAlloc(d, nv);
if (!moment_tmp) moment_tmp = mj_stackAllocNum(d, nv);
mju_mulMatTVec(moment_tmp, jacS, wrench, 3, nv);
mju_addTo(moment+i*nv, moment_tmp, nv);
}
@@ -871,11 +871,11 @@ void mj_transmission(const mjModel* m, mjData* d) {
{
// allocate stack variables for the first mjTRN_BODY
if (!efc_force) {
efc_force = mj_stackAlloc(d, d->nefc);
moment_exclude = mj_stackAlloc(d, nv);
jacdifp = mj_stackAlloc(d, 3*nv);
jac1p = mj_stackAlloc(d, 3*nv);
jac2p = mj_stackAlloc(d, 3*nv);
efc_force = mj_stackAllocNum(d, d->nefc);
moment_exclude = mj_stackAllocNum(d, nv);
jacdifp = mj_stackAllocNum(d, 3*nv);
jac1p = mj_stackAllocNum(d, 3*nv);
jac2p = mj_stackAllocNum(d, 3*nv);
chain = issparse ? mj_stackAllocInt(d, nv) : NULL;
}
@@ -1324,7 +1324,7 @@ void mj_comVel(const mjModel* m, mjData* d) {
void mj_subtreeVel(const mjModel* m, mjData* d) {
mjtNum dx[3], dv[3], dp[3], dL[3];
mjMARKSTACK;
mjtNum* body_vel = mj_stackAlloc(d, 6*m->nbody);
mjtNum* body_vel = mj_stackAllocNum(d, 6*m->nbody);
// bodywise quantities
for (int i=0; i < m->nbody; i++) {
@@ -1390,8 +1390,8 @@ void mj_subtreeVel(const mjModel* m, mjData* d) {
void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result) {
mjtNum tmp[6], tmp1[6];
mjMARKSTACK;
mjtNum* loc_cacc = mj_stackAlloc(d, m->nbody*6);
mjtNum* loc_cfrc_body = mj_stackAlloc(d, m->nbody*6);
mjtNum* loc_cacc = mj_stackAllocNum(d, m->nbody*6);
mjtNum* loc_cfrc_body = mj_stackAllocNum(d, m->nbody*6);
// set world acceleration to -gravity
mju_zero(loc_cacc, 6);