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Handle initial_capacity = 0 in mju_arrayListCreate.

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Add const to ArrayList function arguments where appropriate.

PiperOrigin-RevId: 559064386
Change-Id: I8763974a60a05f34dadd56e953cefa40fe78df42
This commit is contained in:
Nimrod Gileadi
2023-08-22 04:03:09 -07:00
committed by Copybara-Service
parent 1d36b57d83
commit dae74030fe
3 changed files with 39 additions and 12 deletions
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test/engine/engine_util_container_test.cc
+30 -6
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@@ -24,13 +24,12 @@
namespace mujoco {
namespace {
TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
constexpr char xml[] = "<mujoco/>";
using testing::NotNull;
TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, testing::NotNull()) << "Failed to load model: "
<< error.data();
mjModel* m = LoadModelFromString("<mujoco/>", error.data(), error.size());
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
mjData* d = mj_makeData(m);
mjMARKSTACK;
mjArrayList* array_list = mju_arrayListCreate(d, sizeof(int), 10);
@@ -48,8 +47,33 @@ TEST(TestMjArrayList, TestMjArrayListSingleThreaded) {
EXPECT_EQ(*(int*)mju_arrayListAt(array_list, i), i);
}
EXPECT_TRUE(mju_arrayListAt(array_list, 100) == NULL);
EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
EXPECT_EQ(mju_arrayListAt(array_list, 100), nullptr);
mjFREESTACK;
mj_deleteData(d);
mj_deleteModel(m);
}
TEST(TestMjArrayList, ZeroInitialCapacity) {
mjModel* m = LoadModelFromString("<mujoco/>", nullptr, 0);
ASSERT_THAT(m, NotNull()) << "Failed to load model";
mjData* d = mj_makeData(m);
mjMARKSTACK;
mjArrayList* array_list =
mju_arrayListCreate(d, sizeof(double), /*initial_capacity=*/0);
EXPECT_EQ(mju_arrayListSize(array_list), 0);
for (int i = 0; i < 35; ++i) {
double value = i;
mju_arrayListAdd(array_list, &value);
}
EXPECT_EQ(mju_arrayListSize(array_list), 35);
for (int i = 0; i < 35; ++i) {
EXPECT_EQ(*(double*)mju_arrayListAt(array_list, i), i);
}
EXPECT_EQ(mju_arrayListAt(array_list, 35), nullptr);
mjFREESTACK;
mj_deleteData(d);