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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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doc/includes/references.h
+21 -21
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@@ -139,29 +139,29 @@ struct mjData_ {
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// stack pointer // 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 size_t pbase; // value of pstack when mj_markStack was last called
// arena pointer // arena pointer
size_t parena; // first available byte in arena size_t parena; // first available byte in arena
// memory utilization stats // memory utilization statistics
size_t maxuse_stack; // maximum stack allocation in bytes size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// solver statistics // solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_nisland; // number of islands processed by solver int solver_nisland; // number of islands processed by solver
int solver_niter[mjNISLAND]; // number of solver iterations, per island 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 int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes // variable sizes
int ne; // number of equality constraints int ne; // number of equality constraints
@@ -274,7 +274,7 @@ struct mjData_ {
// computed by mj_collisionTree // computed by mj_collisionTree
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6) 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 //-------------------- POSITION, VELOCITY dependent
@@ -344,7 +344,7 @@ struct mjData_ {
//-------------------- arena-allocated: POSITION dependent //-------------------- arena-allocated: POSITION dependent
// computed by mj_collision // 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 // computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1) int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
@@ -394,11 +394,11 @@ struct mjData_ {
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent //-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse // computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (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) mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1) int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// ThreadPool for multithreaded operations // thread pool pointer
uintptr_t threadpool; uintptr_t threadpool;
}; };
typedef struct mjData_ mjData; typedef struct mjData_ mjData;
include/mujoco/mjdata.h
+21 -21
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@@ -167,29 +167,29 @@ struct mjData_ {
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// stack pointer // 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 size_t pbase; // value of pstack when mj_markStack was last called
// arena pointer // arena pointer
size_t parena; // first available byte in arena size_t parena; // first available byte in arena
// memory utilization stats // memory utilization statistics
size_t maxuse_stack; // maximum stack allocation in bytes size_t maxuse_stack; // maximum stack allocation in bytes
size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes size_t maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
size_t maxuse_arena; // maximum arena allocation in bytes size_t maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints int maxuse_efc; // maximum number of scalar constraints
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// solver statistics // solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_nisland; // number of islands processed by solver int solver_nisland; // number of islands processed by solver
int solver_niter[mjNISLAND]; // number of solver iterations, per island 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 int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics
mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes // variable sizes
int ne; // number of equality constraints int ne; // number of equality constraints
@@ -302,7 +302,7 @@ struct mjData_ {
// computed by mj_collisionTree // computed by mj_collisionTree
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6) 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 //-------------------- POSITION, VELOCITY dependent
@@ -372,7 +372,7 @@ struct mjData_ {
//-------------------- arena-allocated: POSITION dependent //-------------------- arena-allocated: POSITION dependent
// computed by mj_collision // 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 // computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1) int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
@@ -422,11 +422,11 @@ struct mjData_ {
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent //-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse // computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (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) mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1) int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// ThreadPool for multithreaded operations // thread pool pointer
uintptr_t threadpool; uintptr_t threadpool;
}; };
typedef struct mjData_ mjData; typedef struct mjData_ mjData;
introspect/structs.py
+24 -24
View File
@@ -4183,7 +4183,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='pstack', name='pstack',
type=ValueType(name='size_t'), type=ValueType(name='size_t'),
doc='first available mjtNum address in stack', doc='first available byte in stack',
), ),
StructFieldDecl( StructFieldDecl(
name='pbase', name='pbase',
@@ -4223,22 +4223,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='maximum number of scalar constraints', doc='maximum number of scalar constraints',
), ),
StructFieldDecl(
name='warning',
type=ArrayType(
inner_type=ValueType(name='mjWarningStat'),
extents=(8,),
),
doc='warning statistics',
),
StructFieldDecl(
name='timer',
type=ArrayType(
inner_type=ValueType(name='mjTimerStat'),
extents=(15,),
),
doc='timer statistics',
),
StructFieldDecl( StructFieldDecl(
name='solver', name='solver',
type=ArrayType( type=ArrayType(
@@ -4266,7 +4250,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='int'), inner_type=ValueType(name='int'),
extents=(20,), extents=(20,),
), ),
doc='number of non-zeros in Hessian or efc_AR, per island', doc='number of nonzeros in Hessian or efc_AR, per island',
), ),
StructFieldDecl( StructFieldDecl(
name='solver_fwdinv', name='solver_fwdinv',
@@ -4276,6 +4260,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc='forward-inverse comparison: qfrc, efc', doc='forward-inverse comparison: qfrc, efc',
), ),
StructFieldDecl(
name='warning',
type=ArrayType(
inner_type=ValueType(name='mjWarningStat'),
extents=(8,),
),
doc='warning statistics',
),
StructFieldDecl(
name='timer',
type=ArrayType(
inner_type=ValueType(name='mjTimerStat'),
extents=(15,),
),
doc='timer statistics',
),
StructFieldDecl( StructFieldDecl(
name='ne', name='ne',
type=ValueType(name='int'), type=ValueType(name='int'),
@@ -4756,7 +4756,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjtByte'), inner_type=ValueType(name='mjtByte'),
), ),
doc='volume has been added to collisions (nbvh x 1)', # pylint: disable=line-too-long doc='was bounding volume checked for collision (nbvh x 1)', # pylint: disable=line-too-long
), ),
StructFieldDecl( StructFieldDecl(
name='flexedge_velocity', name='flexedge_velocity',
@@ -4987,7 +4987,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjContact'), inner_type=ValueType(name='mjContact'),
), ),
doc='list of all detected contacts (ncon x 1)', # pylint: disable=line-too-long doc='array of all detected contacts (ncon x 1)', # pylint: disable=line-too-long
), ),
StructFieldDecl( StructFieldDecl(
name='efc_type', name='efc_type',
@@ -5239,26 +5239,26 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjtNum'), inner_type=ValueType(name='mjtNum'),
), ),
doc='linear cost term: J*qacc_smooth - aref (nefc x 1)', # pylint: disable=line-too-long doc='linear cost term: J*qacc_smooth - aref (nefc x 1)', # pylint: disable=line-too-long
), ),
StructFieldDecl( StructFieldDecl(
name='efc_force', name='efc_force',
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjtNum'), inner_type=ValueType(name='mjtNum'),
), ),
doc='constraint force in constraint space (nefc x 1)', # pylint: disable=line-too-long doc='constraint force in constraint space (nefc x 1)', # pylint: disable=line-too-long
), ),
StructFieldDecl( StructFieldDecl(
name='efc_state', name='efc_state',
type=PointerType( type=PointerType(
inner_type=ValueType(name='int'), inner_type=ValueType(name='int'),
), ),
doc='constraint state (mjtConstraintState) (nefc x 1)', # pylint: disable=line-too-long doc='constraint state (mjtConstraintState) (nefc x 1)', # pylint: disable=line-too-long
), ),
StructFieldDecl( StructFieldDecl(
name='threadpool', name='threadpool',
type=ValueType(name='uintptr_t'), type=ValueType(name='uintptr_t'),
doc='ThreadPool for multithreaded operations', doc='thread pool pointer',
), ),
), ),
)), )),
unity/Runtime/Bindings/MjBindings.cs
+23 -23
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@@ -789,29 +789,6 @@ public unsafe struct mjData_ {
public UIntPtr maxuse_arena; public UIntPtr maxuse_arena;
public int maxuse_con; public int maxuse_con;
public int maxuse_efc; public int maxuse_efc;
public mjWarningStat_ warning0;
public mjWarningStat_ warning1;
public mjWarningStat_ warning2;
public mjWarningStat_ warning3;
public mjWarningStat_ warning4;
public mjWarningStat_ warning5;
public mjWarningStat_ warning6;
public mjWarningStat_ warning7;
public mjTimerStat_ timer0;
public mjTimerStat_ timer1;
public mjTimerStat_ timer2;
public mjTimerStat_ timer3;
public mjTimerStat_ timer4;
public mjTimerStat_ timer5;
public mjTimerStat_ timer6;
public mjTimerStat_ timer7;
public mjTimerStat_ timer8;
public mjTimerStat_ timer9;
public mjTimerStat_ timer10;
public mjTimerStat_ timer11;
public mjTimerStat_ timer12;
public mjTimerStat_ timer13;
public mjTimerStat_ timer14;
public mjSolverStat_ solver0; public mjSolverStat_ solver0;
public mjSolverStat_ solver1; public mjSolverStat_ solver1;
public mjSolverStat_ solver2; public mjSolverStat_ solver2;
@@ -4816,6 +4793,29 @@ public unsafe struct mjData_ {
public fixed int solver_niter[20]; public fixed int solver_niter[20];
public fixed int solver_nnz[20]; public fixed int solver_nnz[20];
public fixed double solver_fwdinv[2]; public fixed double solver_fwdinv[2];
public mjWarningStat_ warning0;
public mjWarningStat_ warning1;
public mjWarningStat_ warning2;
public mjWarningStat_ warning3;
public mjWarningStat_ warning4;
public mjWarningStat_ warning5;
public mjWarningStat_ warning6;
public mjWarningStat_ warning7;
public mjTimerStat_ timer0;
public mjTimerStat_ timer1;
public mjTimerStat_ timer2;
public mjTimerStat_ timer3;
public mjTimerStat_ timer4;
public mjTimerStat_ timer5;
public mjTimerStat_ timer6;
public mjTimerStat_ timer7;
public mjTimerStat_ timer8;
public mjTimerStat_ timer9;
public mjTimerStat_ timer10;
public mjTimerStat_ timer11;
public mjTimerStat_ timer12;
public mjTimerStat_ timer13;
public mjTimerStat_ timer14;
public int ne; public int ne;
public int nf; public int nf;
public int nl; public int nl;