Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.

PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3

doc/APIreference/functions.rst

@@ -3085,7 +3085,7 @@ finite-differencing. These matrices and their dimensions are:
 
 - All four matrix outputs are optional (can be NULL).
 - ``eps`` is the finite-differencing epsilon.
-- ``centered`` is a flag denoting whether to use forward (0) or centered (1) differences.
+- ``flg_centered`` denotes whether to use forward (0) or centered (1) differences.
 
 .. _Plugins-api:
 

doc/APIreference/functions_override.rst

@@ -388,5 +388,5 @@ finite-differencing. These matrices and their dimensions are:
 
 - All four matrix outputs are optional (can be NULL).
 - ``eps`` is the finite-differencing epsilon.
-- ``centered`` is a flag denoting whether to use forward (0) or centered (1) differences.
+- ``flg_centered`` denotes whether to use forward (0) or centered (1) differences.
 

doc/includes/references.h

@@ -2439,7 +2439,7 @@ void mju_insertionSortInt(int* list, int n);
 mjtNum mju_Halton(int index, int base);
 char* mju_strncpy(char *dst, const char *src, int n);
 mjtNum mju_sigmoid(mjtNum x);
-void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
+void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
                       mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
 void mjp_defaultPlugin(mjpPlugin* plugin);
 int mjp_registerPlugin(const mjpPlugin* plugin);

include/mujoco/mujoco.h

@@ -1197,7 +1197,7 @@ MJAPI mjtNum mju_sigmoid(mjtNum x);
 //      B: (2*nv+na x nu)
 //      D: (nsensordata x 2*nv+na)
 //      C: (nsensordata x nu)
-MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
+MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
                             mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
 
 

introspect/functions.py

@@ -7503,7 +7503,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='mjtNum'),
              ),
              FunctionParameterDecl(
-                 name='centered',
+                 name='flg_centered',
                  type=ValueType(name='mjtByte'),
              ),
              FunctionParameterDecl(

python/LQR.ipynb

@@ -751,8 +751,8 @@
         "A = np.zeros((2*nv, 2*nv))\n",
         "B = np.zeros((2*nv, nu))\n",
         "epsilon = 1e-6\n",
-        "centered = True\n",
+        "flg_centered = True\n",
-        "mujoco.mjd_transitionFD(model, data, epsilon, centered, A, B, None, None)"
+        "mujoco.mjd_transitionFD(model, data, epsilon, flg_centered, A, B, None, None)"
       ]
     },
     {

src/engine/engine_derivative_fd.c

@@ -310,7 +310,7 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
 //   single-letter shortcuts:
 //     inputs: q=qpos, v=qvel, a=act, u=ctrl
 //     outputs: y=next_state (concatenated next qpos, qvel, act), s=sensordata
-void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
+void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
                 mjtNum* DyDq, mjtNum* DyDv, mjtNum* DyDa, mjtNum* DyDu,
                 mjtNum* DsDq, mjtNum* DsDv, mjtNum* DsDa, mjtNum* DsDu) {
   int nq = m->nq, nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
@@ -371,7 +371,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
       }
 
       // nudge backward, if possible given ctrlrange
-      int nudge_back = (centered || !nudge_fwd) &&
+      int nudge_back = (flg_centered || !nudge_fwd) &&
                        (!limited || inRange(ctrl[i]-eps, ctrl[i], m->actuator_ctrlrange+2*i));
       if (nudge_back) {
         // nudge backward
@@ -413,7 +413,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
       setState(m, d, time, state, NULL, warmstart);
 
       // nudge backward
-      if (centered) {
+      if (flg_centered) {
         // nudge backward
         d->act[i] -= eps;
 
@@ -427,7 +427,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 
       // difference states
       if (DyDa) {
-        if (!centered) {
+        if (!flg_centered) {
           stateDiff(m, DyDa+i*ndx, next, next_plus, eps);
         } else {
           stateDiff(m, DyDa+i*ndx, next_minus, next_plus, 2*eps);
@@ -436,7 +436,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 
       // difference sensors
       if (DsDa) {
-        if (!centered) {
+        if (!flg_centered) {
           diff(DsDa+i*ns, sensor, sensor_plus, eps, ns);
         } else {
           diff(DsDa+i*ns, sensor_minus, sensor_plus, 2*eps, ns);
@@ -460,7 +460,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
       setState(m, d, time, state, NULL, warmstart);
 
       // nudge backward
-      if (centered) {
+      if (flg_centered) {
         // nudge
         d->qvel[i] -= eps;
 
@@ -474,7 +474,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 
       // difference states
       if (DyDv) {
-        if (!centered) {
+        if (!flg_centered) {
           stateDiff(m, DyDv+i*ndx, next, next_plus, eps);
         } else {
           stateDiff(m, DyDv+i*ndx, next_minus, next_plus, 2*eps);
@@ -483,7 +483,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 
       // difference sensors
       if (DsDv) {
-        if (!centered) {
+        if (!flg_centered) {
           diff(DsDv+i*ns, sensor, sensor_plus, eps, ns);
         } else {
           diff(DsDv+i*ns, sensor_minus, sensor_plus, 2*eps, ns);
@@ -509,7 +509,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
       setState(m, d, time, state, NULL, warmstart);
 
       // nudge backward
-      if (centered) {
+      if (flg_centered) {
         // nudge backward
         mju_zero(dpos, nv);
         dpos[i] = 1;
@@ -525,7 +525,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 
       // difference states
       if (DyDq) {
-        if (!centered) {
+        if (!flg_centered) {
           stateDiff(m, DyDq+i*ndx, next, next_plus, eps);
         } else {
           stateDiff(m, DyDq+i*ndx, next_minus, next_plus, 2*eps);
@@ -534,7 +534,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 
       // difference sensors
       if (DsDq) {
-        if (!centered) {
+        if (!flg_centered) {
           diff(DsDq+i*ns, sensor, sensor_plus, eps, ns);
         } else {
           diff(DsDq+i*ns, sensor_minus, sensor_plus, 2*eps, ns);
@@ -556,7 +556,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
 //      B: (2*nv+na x nu)
 //      D: (nsensordata x 2*nv+na)
 //      C: (nsensordata x nu)
-void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
+void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
                       mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D) {
   int nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
   int ndx = 2*nv+na;  // row length of state Jacobians
@@ -587,7 +587,7 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
   }
 
   // get Jacobians
-  mjd_stepFD(m, d, eps, centered, DyDq, DyDv, DyDa, BT, DsDq, DsDv, DsDa, DT);
+  mjd_stepFD(m, d, eps, flg_centered, DyDq, DyDv, DyDa, BT, DsDq, DsDv, DsDa, DT);
 
 
   // transpose

unity/Runtime/Bindings/MjBindings.cs

@@ -3825,6 +3825,6 @@ public static unsafe extern string mju_strncpy(StringBuilder dst, [MarshalAs(Unm
 public static unsafe extern double mju_sigmoid(double x);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjd_transitionFD(mjModel_* m, mjData_* d, double eps, byte centered, double* A, double* B, double* C, double* D);
+public static unsafe extern void mjd_transitionFD(mjModel_* m, mjData_* d, double eps, byte flg_centered, double* A, double* B, double* C, double* D);
 }
 }