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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_util_solve.c
-19
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@@ -61,7 +61,6 @@ int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag) {
}
// Cholesky solve
void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n) {
// copy if source and destination are different
@@ -92,7 +91,6 @@ void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n) {
}
// Cholesky rank-one update: L*L' +/- x*x'; return rank
int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus) {
int rank = n;
@@ -137,7 +135,6 @@ int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus) {
}
//---------------------------- sparse Cholesky -----------------------------------------------------
// sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'
@@ -190,7 +187,6 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
}
// precount row non-zeros of reverse-Cholesky factor L, return total non-zeros
// based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
// reads pattern from upper triangle
@@ -244,7 +240,6 @@ int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr, con
}
// sparse reverse-order Cholesky solve
void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
const int* rownnz, const int* rowadr, const int* colind) {
@@ -288,7 +283,6 @@ void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
}
// sparse reverse-order Cholesky rank-one update: L'*L +/- x*x'; return rank
// x is sparse, change in sparsity pattern of mat is not allowed
int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
@@ -444,7 +438,6 @@ mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
}
// solve with band-Cholesky decomposition
void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense) {
@@ -509,7 +502,6 @@ void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
}
// address of diagonal element i in band-dense matrix representation
int mju_bandDiag(int i, int ntotal, int nband, int ndense) {
int nsparse = ntotal-ndense;
@@ -526,7 +518,6 @@ int mju_bandDiag(int i, int ntotal, int nband, int ndense) {
}
// convert band matrix to dense matrix
void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtByte flg_sym) {
@@ -560,7 +551,6 @@ void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int n
}
// convert dense matrix to band matrix
void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense) {
int nsparse = ntotal-ndense;
@@ -581,7 +571,6 @@ void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int n
}
// multiply band-diagonal matrix with vector
void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense, int nvec, mjtByte flg_sym) {
@@ -697,7 +686,6 @@ void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
}
// solve mat*res=vec given LU factorization of mat
void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
const int* rownnz, const int* rowadr, const int* diag, const int* colind) {
@@ -729,7 +717,6 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
}
//--------------------------- eigen decomposition --------------------------------------------------
// eigenvalue decomposition of symmetric 3x3 matrix
@@ -830,7 +817,6 @@ int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum ma
}
//---------------------------------- QCQP ----------------------------------------------------------
// solve QCQP in 2 dimensions:
@@ -900,7 +886,6 @@ int mju_QCQP2(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
}
// solve QCQP in 3 dimensions:
// min 0.5*x'*A*x + x'*b s.t. sum (xi/di)^2 <= r^2
// return 0 if unconstrained, 1 if constrained
@@ -989,7 +974,6 @@ int mju_QCQP3(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
}
// solve QCQP in n dimensions:
// min 0.5*x'*A*x + x'*b s.t. sum (xi/di)^2 <= r^2
// return 0 if unconstrained, 1 if constrained
@@ -1062,7 +1046,6 @@ int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
}
//--------------------------- box-constrained quadratic program ------------------------------------
// minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed
@@ -1104,7 +1087,6 @@ int mju_boxQP(mjtNum* res, mjtNum* R, int* index,
}
// allocate heap memory for box-constrained Quadratic Program
// as in mju_boxQP, index, lower and upper are optional
// free all pointers with mju_free()
@@ -1124,7 +1106,6 @@ void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index,
}
// local enum encoding mju_boxQP solver status (purely for readability)
enum mjtStatusBoxQP {
mjBOXQP_NOT_SPD = -1, // Hessian is not positive definite