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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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test/benchmark/engine_core_smooth_benchmark_test.cc
+3 -3
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@@ -112,9 +112,9 @@ static void BM_solveLD(benchmark::State& state, bool new_function) {
// allocate gadient
mjMARKSTACK;
mjtNum *grad = mj_stackAlloc(d, m->nv);
mjtNum *Ma = mj_stackAlloc(d, m->nv);
mjtNum *res = mj_stackAlloc(d, m->nv);
mjtNum *grad = mj_stackAllocNum(d, m->nv);
mjtNum *Ma = mj_stackAllocNum(d, m->nv);
mjtNum *res = mj_stackAllocNum(d, m->nv);
// compute gradient
mj_mulM(m, d, Ma, d->qacc);
test/benchmark/engine_util_sparse_benchmark_test.cc
+11 -11
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@@ -49,7 +49,7 @@ void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
const int* colindT, const int* rowsuperT, mjData* d) {
mjMARKSTACK;
int* chain = mj_stackAllocInt(d, 2 * nc);
mjtNum* buffer = mj_stackAlloc(d, nc);
mjtNum* buffer = mj_stackAllocNum(d, nc);
for (int r = 0; r < nc; r++) {
res_rowadr[r] = r * nc;
@@ -355,11 +355,11 @@ static void BM_MatVecSparse(benchmark::State& state, int unroll) {
// allocate gradient
mjMARKSTACK;
mjtNum *Ma = mj_stackAlloc(d, m->nv);
mjtNum *vec = mj_stackAlloc(d, m->nv);
mjtNum *res = mj_stackAlloc(d, d->nefc);
mjtNum *grad = mj_stackAlloc(d, m->nv);
mjtNum *Mgrad = mj_stackAlloc(d, m->nv);
mjtNum *Ma = mj_stackAllocNum(d, m->nv);
mjtNum *vec = mj_stackAllocNum(d, m->nv);
mjtNum *res = mj_stackAllocNum(d, d->nefc);
mjtNum *grad = mj_stackAllocNum(d, m->nv);
mjtNum *Mgrad = mj_stackAllocNum(d, m->nv);
// compute gradient
mj_mulM(m, d, Ma, d->qacc);
@@ -434,13 +434,13 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
// allocate
mjMARKSTACK;
mjtNum* H = mj_stackAlloc(d, m->nv*m->nv);
mjtNum* H = mj_stackAllocNum(d, m->nv*m->nv);
int* rownnz = mj_stackAllocInt(d, m->nv);
int* rowadr = mj_stackAllocInt(d, m->nv);
int* colind = mj_stackAllocInt(d, m->nv*m->nv);
// compute D corresponding to quad states
mjtNum* D = mj_stackAlloc(d, d->nefc);
mjtNum* D = mj_stackAllocNum(d, d->nefc);
for (int i = 0; i < d->nefc; i++) {
if (d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
D[i] = d->efc_D[i];
@@ -513,7 +513,7 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
mjMARKSTACK;
// need uncompressed layout
mjtNum* res = mj_stackAlloc(d, m->nv * d->nefc);
mjtNum* res = mj_stackAllocNum(d, m->nv * d->nefc);
int* res_rownnz = mj_stackAllocInt(d, m->nv);
int* res_rowadr = mj_stackAllocInt(d, m->nv);
int* res_colind = mj_stackAllocInt(d, m->nv * d->nefc);
@@ -557,13 +557,13 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
// allocate
mjMARKSTACK;
mjtNum* H = mj_stackAlloc(d, m->nv * m->nv);
mjtNum* H = mj_stackAllocNum(d, m->nv * m->nv);
int* rownnz = mj_stackAllocInt(d, m->nv);
int* rowadr = mj_stackAllocInt(d, m->nv);
int* colind = mj_stackAllocInt(d, m->nv * m->nv);
// compute D corresponding to quad states
mjtNum* D = mj_stackAlloc(d, d->nefc);
mjtNum* D = mj_stackAllocNum(d, d->nefc);
for (int i = 0; i < d->nefc; i++) {
if (d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
D[i] = d->efc_D[i];
test/engine/engine_derivative_test.cc
+3 -3
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@@ -291,7 +291,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
// === state-transition matrix A
if (A) {
mjtNum *Ac = mj_stackAlloc(d, 2*nv*nv);
mjtNum *Ac = mj_stackAllocNum(d, 2*nv*nv);
// Ac = H^-1 [diag(-stiffness) diag(-damping)]
mju_zero(Ac, 2*nv*nv);
for (int i=0; i < nv; i++) {
@@ -321,8 +321,8 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
// === control-transition matrix B
if (B) {
mjtNum *Bc = mj_stackAlloc(d, nu*nv);
mjtNum *BcT = mj_stackAlloc(d, nv*nu);
mjtNum *Bc = mj_stackAllocNum(d, nu*nv);
mjtNum *BcT = mj_stackAllocNum(d, nv*nu);
mju_copy(Bc, d->actuator_moment, nv*nu);
mj_solveLD(m, Bc, nu, d->qH, d->qHDiagInv);
mju_transpose(BcT, Bc, nu, nv);