Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
PiperOrigin-RevId: 813754244 Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
parent
c439628f82
commit
edbdb5195c
@@ -65,7 +65,6 @@ static void saveStats(const mjModel* m, mjData* d, int island, int iter,
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}
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// finalize dual solver: map to joint space
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// TODO: b/295296178 - add island support to Dual solvers
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static void dualFinish(const mjModel* m, mjData* d) {
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@@ -78,7 +77,6 @@ static void dualFinish(const mjModel* m, mjData* d) {
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}
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// compute 1/diag(AR)
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// TODO: b/295296178 - add island support to Dual solvers
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static void ARdiaginv(const mjModel* m, const mjData* d, mjtNum* res, int flg_subR) {
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@@ -114,7 +112,6 @@ static void ARdiaginv(const mjModel* m, const mjData* d, mjtNum* res, int flg_su
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}
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// extract diagonal block from AR, clamp diag to 1e-10 if flg_subR
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// TODO: b/295296178 - add island support to Dual solvers
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static void extractBlock(const mjModel* m, const mjData* d, mjtNum* Ac,
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@@ -175,7 +172,6 @@ static void extractBlock(const mjModel* m, const mjData* d, mjtNum* Ac,
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}
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// compute residual for one block
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// TODO: b/295296178 - add island support to Dual solvers
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static void residual(const mjModel* m, const mjData* d, mjtNum* res, int i, int dim, int flg_subR) {
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@@ -206,7 +202,6 @@ static void residual(const mjModel* m, const mjData* d, mjtNum* res, int i, int
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}
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// compute cost change
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// TODO: b/295296178 - add island support to Dual solvers
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static mjtNum costChange(const mjtNum* A, mjtNum* force, const mjtNum* oldforce,
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@@ -233,7 +228,6 @@ static mjtNum costChange(const mjtNum* A, mjtNum* force, const mjtNum* oldforce,
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}
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// set efc_state to dual constraint state; return nactive
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// TODO: b/295296178 - add island support to Dual solvers
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static int dualState(const mjModel* m, const mjData* d, int* state) {
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@@ -320,7 +314,6 @@ static int dualState(const mjModel* m, const mjData* d, int* state) {
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}
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//---------------------------- PGS solver ----------------------------------------------------------
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// TODO: b/295296178 - add island support to Dual solvers
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@@ -542,7 +535,6 @@ void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
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}
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//---------------------------- NoSlip solver -------------------------------------------------------
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// TODO: b/295296178 - add island support to Dual solvers
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@@ -759,7 +751,6 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
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}
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//------------------------- CG and Newton solver --------------------------------------------------
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// CG context
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@@ -964,7 +955,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
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}
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// allocate fixed-size arrays in mjCGContext
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// mj_{mark/free}Stack in calling function!
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static void CGallocate(mjData* d, mjCGContext* ctx, int flg_Newton) {
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@@ -1013,7 +1003,6 @@ static void CGallocate(mjData* d, mjCGContext* ctx, int flg_Newton) {
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}
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// update efc_force, qfrc_constraint, cost-related
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static void CGupdateConstraint(mjCGContext* ctx, int flg_HessianCone) {
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int nefc = ctx->nefc, nv = ctx->nv;
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@@ -1051,7 +1040,6 @@ static void CGupdateConstraint(mjCGContext* ctx, int flg_HessianCone) {
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}
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// update grad, Mgrad
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static void CGupdateGradient(mjCGContext* ctx, int flg_Newton) {
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int nv = ctx->nv;
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@@ -1080,7 +1068,6 @@ static void CGupdateGradient(mjCGContext* ctx, int flg_Newton) {
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}
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// prepare quadratic polynomials and contact cone quantities
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static void CGprepare(mjCGContext* ctx) {
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int nv = ctx->nv, nefc = ctx->nefc;
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@@ -1157,7 +1144,6 @@ static void CGprepare(mjCGContext* ctx) {
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}
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// linesearch evaluation point
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struct _mjCGPnt {
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mjtNum alpha;
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@@ -1306,7 +1292,6 @@ static void CGeval(mjCGContext* ctx, mjCGPnt* p) {
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}
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// update bracket point given 3 candidate points
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static int updateBracket(mjCGContext* ctx,
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mjCGPnt* p, const mjCGPnt candidates[3], mjCGPnt* pnext) {
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@@ -1337,7 +1322,6 @@ static int updateBracket(mjCGContext* ctx,
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}
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// line search
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static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations) {
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int nv = ctx->nv, nefc = ctx->nefc;
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@@ -1527,7 +1511,6 @@ static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations)
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}
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// allocate and compute Hessian given efc_state
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// mj_{mark/free}Stack in caller function!
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static void MakeHessian(mjData* d, mjCGContext* ctx) {
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@@ -1637,7 +1620,6 @@ static void MakeHessian(mjData* d, mjCGContext* ctx) {
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}
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// forward declaration of HessianCone (readability)
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static void HessianCone(mjData* d, mjCGContext* ctx);
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@@ -1716,7 +1698,6 @@ static void FactorizeHessian(mjData* d, mjCGContext* ctx, int flg_recompute) {
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}
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// elliptic case: Hcone = H + cone_contributions
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static void HessianCone(mjData* d, mjCGContext* ctx) {
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int nv = ctx->nv, nefc = ctx->nefc;
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@@ -1795,7 +1776,6 @@ static void HessianCone(mjData* d, mjCGContext* ctx) {
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}
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// incremental update to Hessian factor due to changes in efc_state
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static void HessianIncremental(mjData* d, mjCGContext* ctx, const int* oldstate) {
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int rank, nv = ctx->nv, nefc = ctx->nefc;
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@@ -1863,7 +1843,6 @@ static void HessianIncremental(mjData* d, mjCGContext* ctx, const int* oldstate)
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}
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// driver
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static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter, int flg_Newton) {
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int iter = 0;
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@@ -2025,28 +2004,24 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
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}
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// CG entry point
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void mj_solCG(const mjModel* m, mjData* d, int maxiter) {
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mj_solCGNewton(m, d, /*island=*/-1, maxiter, /*flg_Newton=*/0);
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}
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// CG entry point (one island)
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void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter) {
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mj_solCGNewton(m, d, island, maxiter, /*flg_Newton=*/0);
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}
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// Newton entry point
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void mj_solNewton(const mjModel* m, mjData* d, int maxiter) {
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mj_solCGNewton(m, d, /*island=*/-1, maxiter, /*flg_Newton=*/1);
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}
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// Newton entry point (one island)
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void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter) {
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mj_solCGNewton(m, d, island, maxiter, /*flg_Newton=*/1);
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