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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_forward.c
+13 -13
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@@ -200,7 +200,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
// local, clamped copy of ctrl
mjMARKSTACK;
mjtNum *ctrl = mj_stackAlloc(d, nu);
mjtNum *ctrl = mj_stackAllocNum(d, nu);
if (mjDISABLED(mjDSBL_CLAMPCTRL)) {
mju_copy(ctrl, d->ctrl, nu);
} else {
@@ -426,7 +426,7 @@ static void warmstart(const mjModel* m, mjData* d) {
// warmstart with best of (qacc_warmstart, qacc_smooth)
if (!mjDISABLED(mjDSBL_WARMSTART)) {
mjMARKSTACK;
mjtNum* jar = mj_stackAlloc(d, nefc);
mjtNum* jar = mj_stackAllocNum(d, nefc);
// start with qacc = qacc_warmstart
mju_copy(d->qacc, d->qacc_warmstart, nv);
@@ -443,7 +443,7 @@ static void warmstart(const mjModel* m, mjData* d) {
if (m->opt.solver == mjSOL_PGS) {
// cost(force_warmstart)
mjtNum PGS_warmstart = mju_dot(d->efc_force, d->efc_b, nefc);
mjtNum* ARf = mj_stackAlloc(d, nefc);
mjtNum* ARf = mj_stackAllocNum(d, nefc);
if (mj_isSparse(m))
mju_mulMatVecSparse(ARf, d->efc_AR, d->efc_force, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr,
@@ -463,7 +463,7 @@ static void warmstart(const mjModel* m, mjData* d) {
// non-PGS
else {
// add Gauss to cost(qacc_warmstart)
mjtNum* Ma = mj_stackAlloc(d, nv);
mjtNum* Ma = mj_stackAllocNum(d, nv);
mj_mulM(m, d, Ma, d->qacc_warmstart);
for (int i=0; i < nv; i++) {
cost_warmstart += 0.5*(Ma[i]-d->qfrc_smooth[i])*(d->qacc_warmstart[i]-d->qacc_smooth[i]);
@@ -590,8 +590,8 @@ static void mj_advance(const mjModel* m, mjData* d,
void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
int nv = m->nv, nM = m->nM;
mjMARKSTACK;
mjtNum* qfrc = mj_stackAlloc(d, nv);
mjtNum* qacc = mj_stackAlloc(d, nv);
mjtNum* qfrc = mj_stackAllocNum(d, nv);
mjtNum* qacc = mj_stackAllocNum(d, nv);
// check for dof damping if disable flag is not set
int dof_damping = 0;
@@ -612,7 +612,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// damping: integrate implicitly
else {
if (!skipfactor) {
mjtNum* MhB = mj_stackAlloc(d, nM);
mjtNum* MhB = mj_stackAllocNum(d, nM);
// MhB = M + h*diag(B)
mju_copy(MhB, d->qM, m->nM);
@@ -673,10 +673,10 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
}
// allocate space for intermediate solutions
dX = mj_stackAlloc(d, 2*nv+na);
dX = mj_stackAllocNum(d, 2*nv+na);
for (int i=0; i < N; i++) {
X[i] = mj_stackAlloc(d, nq+nv+na);
F[i] = mj_stackAlloc(d, nv+na);
X[i] = mj_stackAllocNum(d, nq+nv+na);
F[i] = mj_stackAllocNum(d, nv+na);
}
// precompute C and T; C,T,A have size (N-1)
@@ -756,8 +756,8 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
int nv = m->nv;
mjMARKSTACK;
mjtNum* qfrc = mj_stackAlloc(d, nv);
mjtNum* qacc = mj_stackAlloc(d, nv);
mjtNum* qfrc = mj_stackAllocNum(d, nv);
mjtNum* qacc = mj_stackAllocNum(d, nv);
// set qfrc = qfrc_smooth + qfrc_constraint
mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
@@ -790,7 +790,7 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mjd_smooth_vel(m, d, /* flg_bias = */ 0);
// modified mass matrix MhB = qDeriv[Lower]
mjtNum* MhB = mj_stackAlloc(d, m->nM);
mjtNum* MhB = mj_stackAllocNum(d, m->nM);
mj_copyD2MSparse(m, d, MhB, d->qDeriv);
// set MhB = M - dt*qDeriv