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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_support.c
+8 -8
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@@ -279,7 +279,7 @@ void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr
void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body) {
int nv = m->nv;
mjMARKSTACK;
mjtNum* jacp_b = mj_stackAlloc(d, 3*nv);
mjtNum* jacp_b = mj_stackAllocNum(d, 3*nv);
// clear output
mju_zero(jacp, 3*nv);
@@ -325,8 +325,8 @@ void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacA
// get full Jacobian of point
mjMARKSTACK;
mjtNum* jacp = (jacPoint ? jacPoint : mj_stackAlloc(d, 3*nv));
mjtNum* jacr = mj_stackAlloc(d, 3*nv);
mjtNum* jacp = (jacPoint ? jacPoint : mj_stackAllocNum(d, 3*nv));
mjtNum* jacr = mj_stackAllocNum(d, 3*nv);
mj_jac(m, d, jacp, jacr, point, body);
// jacAxis_col = cross(jacr_col, axis)
@@ -957,7 +957,7 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
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);
mj_addMSparse(m, d, dst, rownnz, rowadr, colind, M,
@@ -1051,7 +1051,7 @@ void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
mjMARKSTACK;
int* buf_ind = mj_stackAllocInt(d, nv);
mjtNum* sparse_buf = mj_stackAlloc(d, nv);
mjtNum* sparse_buf = mj_stackAllocNum(d, nv);
// add to destination
for (int i=0; i < nv; i++) {
@@ -1162,9 +1162,9 @@ void mj_applyFT(const mjModel* m, mjData* d,
// allocate local variables
mjMARKSTACK;
mjtNum* jacp = mj_stackAlloc(d, 3*nv);
mjtNum* jacr = mj_stackAlloc(d, 3*nv);
mjtNum* qforce = mj_stackAlloc(d, nv);
mjtNum* jacp = mj_stackAllocNum(d, 3*nv);
mjtNum* jacr = mj_stackAllocNum(d, 3*nv);
mjtNum* qforce = mj_stackAllocNum(d, nv);
// make sure body is in range
if (body < 0 || body >= m->nbody) {