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Replace mjMIN and mjMAX with mju_min and mju_max, where possible.

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PiperOrigin-RevId: 566602924
Change-Id: I2d24183d0d9df3e647bb2d7d7544473582f38128
This commit is contained in:
Yuval Tassa
2023-09-19 05:39:55 -07:00
committed by Copybara-Service
parent 9cf1f6eba4
commit dfd48dd821
9 changed files with 45 additions and 50 deletions
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src/engine/engine_derivative.c
+11 -12
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@@ -15,7 +15,6 @@
#include "engine/engine_derivative.h"
#include <mujoco/mjdata.h>
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include "engine/engine_core_constraint.h"
#include "engine/engine_crossplatform.h"
@@ -829,7 +828,7 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
// scale force if negative
if (force < 0) {
force = scale / mjMAX(mjMINVAL, acc0);
force = scale / mju_max(mjMINVAL, acc0);
}
// mid-ranges
@@ -838,25 +837,25 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
mjtNum x;
// optimum length
mjtNum L0 = (lengthrange[1]-lengthrange[0]) / mjMAX(mjMINVAL, range[1]-range[0]);
mjtNum L0 = (lengthrange[1]-lengthrange[0]) / mju_max(mjMINVAL, range[1]-range[0]);
// normalized length and velocity
mjtNum L = range[0] + (len-lengthrange[0]) / mjMAX(mjMINVAL, L0);
mjtNum V = vel / mjMAX(mjMINVAL, L0*vmax);
mjtNum L = range[0] + (len-lengthrange[0]) / mju_max(mjMINVAL, L0);
mjtNum V = vel / mju_max(mjMINVAL, L0*vmax);
// length curve
mjtNum FL = 0;
if (L >= lmin && L <= a) {
x = (L-lmin) / mjMAX(mjMINVAL, a-lmin);
x = (L-lmin) / mju_max(mjMINVAL, a-lmin);
FL = 0.5*x*x;
} else if (L <= 1) {
x = (1-L) / mjMAX(mjMINVAL, 1-a);
x = (1-L) / mju_max(mjMINVAL, 1-a);
FL = 1 - 0.5*x*x;
} else if (L <= b) {
x = (L-1) / mjMAX(mjMINVAL, b-1);
x = (L-1) / mju_max(mjMINVAL, b-1);
FL = 1 - 0.5*x*x;
} else if (L <= lmax) {
x = (lmax-L) / mjMAX(mjMINVAL, lmax-b);
x = (lmax-L) / mju_max(mjMINVAL, lmax-b);
FL = 0.5*x*x;
}
@@ -870,15 +869,15 @@ static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrang
// FV = (V+1)*(V+1)
dFV = 2*V + 2;
} else if (V <= y) {
// FV = fvmax - (y-V)*(y-V) / mjMAX(mjMINVAL, y)
dFV = (-2*V + 2*y) / mjMAX(mjMINVAL, y);
// FV = fvmax - (y-V)*(y-V) / mju_max(mjMINVAL, y)
dFV = (-2*V + 2*y) / mju_max(mjMINVAL, y);
} else {
// FV = fvmax
dFV = 0;
}
// compute FVL and scale, make it negative
return -force*FL*dFV/mjMAX(mjMINVAL, L0*vmax);
return -force*FL*dFV/mju_max(mjMINVAL, L0*vmax);
}