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Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.

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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
This commit is contained in:
Kyle Bayes
2023-03-09 13:50:39 -08:00
committed by Copybara-Service
parent 2e6a37e8c5
commit d3d789cf7d
33 changed files with 177 additions and 184 deletions
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doc/programming/simulation.rst
+5 -8
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@@ -724,16 +724,13 @@ triggers an error. It also keeps track of the maximum stack allocation; see :ref
Errors, warnings, memory allocation
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
When a terminal error occurs, MuJoCo calls the function :ref:`mju_error` internally. This function has a single argument
which is the error message. The helper functions :ref:`mju_error_i` and :ref:`mju_error_s` are also used, but they
simply construct the error message using a printf format string and an additional integer or string argument, and then
call mju_error. Here is what mju_error does:
When a terminal error occurs, MuJoCo calls the function :ref:`mju_error` internally. Here is what mju_error does:
#. Append the error message at the end of the file MUJOCO_LOG.TXT in the program directory (create the file if it does
not exist). Also write the date and time along with the error message.
#. If the user error callback :ref:`mju_user_error` is installed, call that function
with the error message as argument. Otherwise printf the error message, printf "Press Enter to exit...", getchar()
and exit(1).
#. If the user error callback :ref:`mju_user_error` is installed, call that function with the error message as
argument. Otherwise, print the error message and "Press Enter to exit..." to standard output. Then wait for any
keyboard input, and then terminate the simulator with failure.
If a user error callback is installed, it must **not** return, otherwise the behavior of the simulator is undefined.
The idea here is that if mju_error is called, the simulation cannot continue and the user is expected to make some
@@ -988,4 +985,4 @@ of mass of the kinematic tree). Such a rotation will not only rotate the body bu
spatial vector must have non-zero linear velocity to compensate for the side-effect of rotation around an off-body
axis. If you call mj_objectVelocity, the resulting 6D quantity will be represented in a frame that is centered at the
body and aligned with the world. Thus the linear component will now be zero as expected. This function will also put
translation in front of rotation, which is our convention for local and global coordinates.
translation in front of rotation, which is our convention for local and global coordinates.