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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_derivative_fd.c
+25 -25
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@@ -197,8 +197,8 @@ void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
int nv = m->nv;
mjMARKSTACK;
mjtNum* qfrc_passive = mj_stackAlloc(d, nv);
mjtNum* fd = mj_stackAlloc(d, nv);
mjtNum* qfrc_passive = mj_stackAllocNum(d, nv);
mjtNum* fd = mj_stackAllocNum(d, nv);
int* cnt = mj_stackAllocInt(d, nv);
// clear row counters
@@ -248,9 +248,9 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
int nv = m->nv;
mjMARKSTACK;
mjtNum* plus = mj_stackAlloc(d, nv);
mjtNum* minus = mj_stackAlloc(d, nv);
mjtNum* fd = mj_stackAlloc(d, nv);
mjtNum* plus = mj_stackAllocNum(d, nv);
mjtNum* minus = mj_stackAllocNum(d, nv);
mjtNum* fd = mj_stackAllocNum(d, nv);
int* cnt = mj_stackAllocInt(d, nv);
// clear row counters
@@ -332,22 +332,22 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_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_stackAllocNum(d, nq+nv+na); // current state
mjtNum *next = mj_stackAllocNum(d, nq+nv+na); // next state
mjtNum *next_plus = mj_stackAllocNum(d, nq+nv+na); // forward-nudged next state
mjtNum *next_minus = mj_stackAllocNum(d, nq+nv+na); // backward-nudged next state
// warmstart accelerations
mjtNum *warmstart = mjDISABLED(mjDSBL_WARMSTART) ? NULL : mj_stackAlloc(d, nv);
mjtNum *warmstart = mjDISABLED(mjDSBL_WARMSTART) ? NULL : mj_stackAllocNum(d, nv);
// sensors
int skipsensor = !DsDq && !DsDv && !DsDa && !DsDu;
mjtNum *sensor = skipsensor ? NULL : mj_stackAlloc(d, ns); // sensor values
mjtNum *sensor_plus = skipsensor ? NULL : mj_stackAlloc(d, ns); // forward-nudged sensors
mjtNum *sensor_minus = skipsensor ? NULL : mj_stackAlloc(d, ns); // backward-nudged sensors
mjtNum *sensor = skipsensor ? NULL : mj_stackAllocNum(d, ns); // sensor values
mjtNum *sensor_plus = skipsensor ? NULL : mj_stackAllocNum(d, ns); // forward-nudged sensors
mjtNum *sensor_minus = skipsensor ? NULL : mj_stackAllocNum(d, ns); // backward-nudged sensors
// controls
mjtNum *ctrl = mj_stackAlloc(d, nu);
mjtNum *ctrl = mj_stackAllocNum(d, nu);
// save current inputs
mjtNum time = d->time;
@@ -508,7 +508,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// finite-difference positions: skip=mjSTAGE_NONE
if (DyDq || DsDq) {
mjtNum *dpos = mj_stackAlloc(d, nv); // allocate position perturbation
mjtNum *dpos = mj_stackAllocNum(d, nv); // allocate position perturbation
for (int i=0; i < nv; i++) {
// nudge forward
mju_zero(dpos, nv);
@@ -582,10 +582,10 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_cente
mjMARKSTACK;
// allocate transposed matrices
mjtNum *AT = A ? mj_stackAlloc(d, ndx*ndx) : NULL; // state-transition matrix (transposed)
mjtNum *BT = B ? mj_stackAlloc(d, nu*ndx) : NULL; // control-transition matrix (transposed)
mjtNum *CT = C ? mj_stackAlloc(d, ndx*ns) : NULL; // state-observation matrix (transposed)
mjtNum *DT = D ? mj_stackAlloc(d, nu*ns) : NULL; // control-observation matrix (transposed)
mjtNum *AT = A ? mj_stackAllocNum(d, ndx*ndx) : NULL; // state-transition matrix (transposed)
mjtNum *BT = B ? mj_stackAllocNum(d, nu*ndx) : NULL; // control-transition matrix (transposed)
mjtNum *CT = C ? mj_stackAllocNum(d, ndx*ns) : NULL; // state-observation matrix (transposed)
mjtNum *DT = D ? mj_stackAllocNum(d, nu*ns) : NULL; // control-observation matrix (transposed)
// set offset pointers
if (A) {
@@ -648,11 +648,11 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
int skipsensor = !DsDq && !DsDv && !DsDa;
// local vectors
mjtNum *pos = mj_stackAlloc(d, nq); // position
mjtNum *force = mj_stackAlloc(d, nv); // force
mjtNum *force_plus = mj_stackAlloc(d, nv); // nudged force
mjtNum *sensor = skipsensor ? NULL : mj_stackAlloc(d, ns); // sensor values
mjtNum *mass = DmDq ? mj_stackAlloc(d, nM) : NULL; // mass matrix
mjtNum *pos = mj_stackAllocNum(d, nq); // position
mjtNum *force = mj_stackAllocNum(d, nv); // force
mjtNum *force_plus = mj_stackAllocNum(d, nv); // nudged force
mjtNum *sensor = skipsensor ? NULL : mj_stackAllocNum(d, ns); // sensor values
mjtNum *mass = DmDq ? mj_stackAllocNum(d, nM) : NULL; // mass matrix
// save current positions
mju_copy(pos, d->qpos, nq);
@@ -706,7 +706,7 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
// position: skip = mjSTAGE_NONE
if (DfDq || DsDq || DmDq) {
mjtNum *dpos = mj_stackAlloc(d, nv); // allocate position perturbation
mjtNum *dpos = mj_stackAllocNum(d, nv); // allocate position perturbation
for (int i=0; i < nv; i++) {
// nudge
mju_zero(dpos, nv);