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Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2

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PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
This commit is contained in:
Yuval Tassa
2025-10-01 07:57:17 -07:00
committed by Copybara-Service
parent c439628f82
commit edbdb5195c
36 changed files with 8 additions and 651 deletions
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src/engine/engine_derivative_fd.c
-11
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@@ -42,7 +42,6 @@ static void getState(const mjModel* m, const mjData* d, mjtNum* state, mjtNum* s
}
// dx = (x2 - x1) / h
static void diff(mjtNum* restrict dx, const mjtNum* x1, const mjtNum* x2, mjtNum h, int n) {
mjtNum inv_h = 1/h;
@@ -52,7 +51,6 @@ static void diff(mjtNum* restrict dx, const mjtNum* x1, const mjtNum* x2, mjtNum
}
// finite-difference two state vectors ds = (s2 - s1) / h
static void stateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s1, const mjtNum* s2, mjtNum h) {
int nq = m->nq, nv = m->nv, na = m->na;
@@ -66,7 +64,6 @@ static void stateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s1, const mjtN
}
// finite-difference two vectors, forward, backward or centered
static void clampedDiff(mjtNum* dx, const mjtNum* x, const mjtNum* x_plus, const mjtNum* x_minus,
mjtNum h, int nx) {
@@ -86,7 +83,6 @@ static void clampedDiff(mjtNum* dx, const mjtNum* x, const mjtNum* x_plus, const
}
// finite-difference two state vectors, forward, backward or centered
static void clampedStateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s, const mjtNum* s_plus,
const mjtNum* s_minus, mjtNum h) {
@@ -106,7 +102,6 @@ static void clampedStateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s, cons
}
// check if two numbers are inside a given range
static int inRange(const mjtNum x1, const mjtNum x2, const mjtNum* range) {
return x1 >= range[0] && x1 <= range[1] &&
@@ -114,7 +109,6 @@ static int inRange(const mjtNum x1, const mjtNum x2, const mjtNum* range) {
}
// advance simulation using control callback, skipstage is mjtStage
void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
TM_START;
@@ -154,7 +148,6 @@ void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
}
// compute qfrc_inverse, optionally subtracting qfrc_actuator
static void inverseSkip(const mjModel* m, mjData* d, mjtStage stage, int skipsensor,
int flg_actuation, mjtNum* force) {
@@ -167,7 +160,6 @@ static void inverseSkip(const mjModel* m, mjData* d, mjtStage stage, int skipsen
}
//------------------------- derivatives of passive forces ------------------------------------------
// add forward fin-diff approximation of (d qfrc_passive / d qvel) to qDeriv
@@ -218,7 +210,6 @@ void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
}
//-------------------- derivatives of all smooth (unconstrained) forces ----------------------------
// centered finite difference approximation to mjd_smooth_vel
@@ -284,7 +275,6 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
}
//------------------------- main entry points ------------------------------------------------------
@@ -537,7 +527,6 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
}
// finite differenced transition matrices (control theory notation)
// d(x_next) = A*dx + B*du
// d(sensor) = C*dx + D*du