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Improve docstrings and layout in mjdata.h

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PiperOrigin-RevId: 649195756
Change-Id: Iadf6589c226acacd9f3e85959de552a98fc7435a
This commit is contained in:
Yuval Tassa
2024-07-03 14:14:44 -07:00
committed by Copybara-Service
parent 5cce67439b
commit ca44ad4f0f
4 changed files with 89 additions and 89 deletions
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include/mujoco/mjdata.h
+21 -21
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@@ -167,29 +167,29 @@ struct mjData_ {
int nplugin; // number of plugin instances
// stack pointer
size_t pstack; // first available mjtNum address in stack
size_t pstack; // first available byte in stack
size_t pbase; // value of pstack when mj_markStack was last called
// arena pointer
size_t parena; // first available byte in arena
// memory utilization stats
size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// memory utilization statistics
size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_nisland; // number of islands processed by solver
int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of non-zeros in Hessian or efc_AR, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
int solver_nisland; // number of islands processed by solver
int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes
int ne; // number of equality constraints
@@ -302,7 +302,7 @@ struct mjData_ {
// computed by mj_collisionTree
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
mjtByte* bvh_active; // volume has been added to collisions (nbvh x 1)
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
//-------------------- POSITION, VELOCITY dependent
@@ -372,7 +372,7 @@ struct mjData_ {
//-------------------- arena-allocated: POSITION dependent
// computed by mj_collision
mjContact* contact; // list of all detected contacts (ncon x 1)
mjContact* contact; // array of all detected contacts (ncon x 1)
// computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
@@ -422,11 +422,11 @@ struct mjData_ {
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// ThreadPool for multithreaded operations
// thread pool pointer
uintptr_t threadpool;
};
typedef struct mjData_ mjData;