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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/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);