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Rename "delay" buffer functions to "history" buffers.

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The functions and associated tests related to managing time-stamped data buffers have been renamed from `mju_delay*` to `mju_history*` to better reflect their general purpose beyond just handling delays.

PiperOrigin-RevId: 866978339
Change-Id: I8655e91bce783287ad2adc412d13a1c39aa2c322
This commit is contained in:
Yuval Tassa
2026-02-07 14:09:27 -08:00
committed by Copybara-Service
parent e6639f1e29
commit d680b3d234
5 changed files with 130 additions and 130 deletions
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src/engine/engine_forward.c
+4 -4
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@@ -869,7 +869,7 @@ static void mj_advance(const mjModel* m, mjData* d,
// get history buffer pointer and insert ctrl at current time
mjtNum* buf = d->history + m->actuator_historyadr[i];
*mju_delayInsert(buf, nsample, /*dim=*/1, d->time) = d->ctrl[i];
*mju_historyInsert(buf, nsample, /*dim=*/1, d->time) = d->ctrl[i];
}
// advance sensor history buffers
@@ -888,7 +888,7 @@ static void mj_advance(const mjModel* m, mjData* d,
mjtNum time_prev = buf[0]; // first slot stores previous sensor tick
if (time_prev + interval <= d->time) {
buf[0] += interval; // advance by exact interval (continuous time)
mjtNum* slot = mju_delayInsert(buf, nsample, dim, d->time);
mjtNum* slot = mju_historyInsert(buf, nsample, dim, d->time);
if (delay > 0) {
// have delay, compute sensor
mj_computeSensor(m, d, i, slot);
@@ -899,11 +899,11 @@ static void mj_advance(const mjModel* m, mjData* d,
}
} else if (delay > 0) {
// delay-only mode: always compute and insert
mjtNum* slot = mju_delayInsert(buf, nsample, dim, d->time);
mjtNum* slot = mju_historyInsert(buf, nsample, dim, d->time);
mj_computeSensor(m, d, i, slot);
} else {
// history-only mode: copy from sensordata (already computed)
mjtNum* slot = mju_delayInsert(buf, nsample, dim, d->time);
mjtNum* slot = mju_historyInsert(buf, nsample, dim, d->time);
mju_copy(slot, d->sensordata + m->sensor_adr[i], dim);
}
}