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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_solver.c
+20 -20
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@@ -309,7 +309,7 @@ void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
mjtNum v[6], v1[6], Athis[36], Ac[25], bc[5], res[6], oldforce[6];
mjContact* con;
mjMARKSTACK;
mjtNum* ARinv = mj_stackAlloc(d, nefc);
mjtNum* ARinv = mj_stackAllocNum(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
// precompute inverse diagonal of AR
@@ -511,7 +511,7 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
mjtNum v[5], Ac[25], bc[5], res[5], oldforce[5], delta[5], mid, y, K0, K1;
mjContact* con;
mjMARKSTACK;
mjtNum* ARinv = mj_stackAlloc(d, nefc);
mjtNum* ARinv = mj_stackAllocNum(d, nefc);
int* oldstate = mj_stackAllocInt(d, nefc);
// precompute inverse diagonal of A
@@ -755,20 +755,20 @@ static void CGallocate(const mjModel* m, mjData* d,
memset(ctx, 0, sizeof(mjCGContext));
// common arrays
ctx->Jaref = mj_stackAlloc(d, nefc);
ctx->Jv = mj_stackAlloc(d, nefc);
ctx->Ma = mj_stackAlloc(d, nv);
ctx->Mv = mj_stackAlloc(d, nv);
ctx->grad = mj_stackAlloc(d, nv);
ctx->Mgrad = mj_stackAlloc(d, nv);
ctx->search = mj_stackAlloc(d, nv);
ctx->quad = mj_stackAlloc(d, nefc*3);
ctx->Jaref = mj_stackAllocNum(d, nefc);
ctx->Jv = mj_stackAllocNum(d, nefc);
ctx->Ma = mj_stackAllocNum(d, nv);
ctx->Mv = mj_stackAllocNum(d, nv);
ctx->grad = mj_stackAllocNum(d, nv);
ctx->Mgrad = mj_stackAllocNum(d, nv);
ctx->search = mj_stackAllocNum(d, nv);
ctx->quad = mj_stackAllocNum(d, nefc*3);
// Hessian (Newton only)
ctx->flg_Newton = flg_Newton;
if (flg_Newton) {
ctx->H = mj_stackAlloc(d, nv*nv);
ctx->Hcone = mj_stackAlloc(d, nv*nv);
ctx->H = mj_stackAllocNum(d, nv*nv);
ctx->Hcone = mj_stackAllocNum(d, nv*nv);
ctx->rownnz = mj_stackAllocInt(d, nv);
ctx->rowadr = mj_stackAllocInt(d, nv);
ctx->colind = mj_stackAllocInt(d, nv*nv);
@@ -1279,8 +1279,8 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
mjMARKSTACK;
// storage for L'*J
mjtNum* LTJ = mj_stackAlloc(d, 6*nv);
mjtNum* LTJ_row = mj_stackAlloc(d, nv);
mjtNum* LTJ = mj_stackAllocNum(d, 6*nv);
mjtNum* LTJ_row = mj_stackAllocNum(d, nv);
int* LTJ_ind = mj_stackAllocInt(d, nv);
// start with Hcone = H
@@ -1357,7 +1357,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
mjMARKSTACK;
// compute D corresponding to quad states
mjtNum* D = mj_stackAlloc(d, nefc);
mjtNum* D = mj_stackAllocNum(d, nefc);
for (int i=0; i < nefc; i++) {
if (d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
D[i] = d->efc_D[i];
@@ -1372,7 +1372,7 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
int nnz = m->nD; // use sparse dof-dof matrix
int* M_rownnz = mj_stackAllocInt(d, nv); // actual nnz count
int* M_colind = mj_stackAllocInt(d, nnz);
mjtNum* M = mj_stackAlloc(d, nnz);
mjtNum* M = mj_stackAllocNum(d, nnz);
mj_makeMSparse(m, d, M, M_rownnz, NULL, M_colind);
// compute H = J'*D*J
@@ -1446,7 +1446,7 @@ static void HessianIncremental(const mjModel* m, mjData* d,
mjMARKSTACK;
// local space
mjtNum* vec = mj_stackAlloc(d, nv);
mjtNum* vec = mj_stackAllocNum(d, nv);
int* vec_ind = mj_stackAllocInt(d, nv);
// clear update counter
@@ -1521,9 +1521,9 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int maxiter, int flg_New
// allocate local storage
if (!flg_Newton) {
gradold = mj_stackAlloc(d, nv);
Mgradold = mj_stackAlloc(d, nv);
Mgraddif = mj_stackAlloc(d, nv);
gradold = mj_stackAllocNum(d, nv);
Mgradold = mj_stackAllocNum(d, nv);
Mgraddif = mj_stackAllocNum(d, nv);
}
int* oldstate = mj_stackAllocInt(d, nefc);