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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_inverse.c
+9 -9
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@@ -96,7 +96,7 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
mjtNum *qacc = d->qacc;
mjMARKSTACK;
mjtNum* qfrc = mj_stackAlloc(d, nv);
mjtNum* qfrc = mj_stackAllocNum(d, nv);
// use selected integrator
switch ((mjtIntegrator) m->opt.integrator) {
@@ -149,11 +149,11 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
mjd_smooth_vel(m, d, /* flg_bias = */ 0);
// save mass matrix
mjtNum* qMsave = mj_stackAlloc(d, m->nM);
mjtNum* qMsave = mj_stackAllocNum(d, m->nM);
mju_copy(qMsave, d->qM, m->nM);
// set M = M - dt*qDeriv (reduced to M nonzeros)
mjtNum* qDerivReduced = mj_stackAlloc(d, m->nM);
mjtNum* qDerivReduced = mj_stackAllocNum(d, m->nM);
mj_copyD2MSparse(m, d, qDerivReduced, d->qDeriv);
mju_addToScl(d->qM, qDerivReduced, -m->opt.timestep, m->nM);
@@ -186,7 +186,7 @@ void mj_invConstraint(const mjModel* m, mjData* d) {
}
mjMARKSTACK;
mjtNum* jar = mj_stackAlloc(d, nefc);
mjtNum* jar = mj_stackAllocNum(d, nefc);
// compute jar = Jac*qacc - aref
mj_mulJacVec(m, d, jar, d->qacc);
@@ -233,7 +233,7 @@ void mj_inverseSkip(const mjModel* m, mjData* d,
if (mjENABLED(mjENBL_INVDISCRETE)) {
// save current qacc
qacc = mj_stackAlloc(d, nv);
qacc = mj_stackAllocNum(d, nv);
mju_copy(qacc, d->qacc, nv);
// modify qacc in-place
@@ -286,10 +286,10 @@ void mj_compareFwdInv(const mjModel* m, mjData* d) {
}
// allocate
qforce = mj_stackAlloc(d, nv);
dif = mj_stackAlloc(d, nv);
save_qfrc_constraint = mj_stackAlloc(d, nv);
save_efc_force = mj_stackAlloc(d, nefc);
qforce = mj_stackAllocNum(d, nv);
dif = mj_stackAllocNum(d, nv);
save_qfrc_constraint = mj_stackAllocNum(d, nv);
save_efc_force = mj_stackAllocNum(d, nefc);
// qforce = qfrc_applied + J'*xfrc_applied + qfrc_actuator
// should equal result of inverse dynamics