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Fix documentation for nstack to more accurately describe what it does now.

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PiperOrigin-RevId: 479409986
Change-Id: Ic7cfadb610e6938bdea58cc01b381fd2bbc21a7c
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Saran Tunyasuvunakool
2022-10-06 14:13:46 -07:00
committed by Copybara-Service
parent 58fd72f53d
commit f0343ff3ed
1 changed files with 3 additions and 2 deletions
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doc/XMLreference.rst
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@@ -514,8 +514,9 @@ compilation.
compatibillity and debugging purposes. compatibillity and debugging purposes.
:at:`nstack`: :at-val:`int, "-1"` |nbsp| |nbsp| |nbsp| (legacy) :at:`nstack`: :at-val:`int, "-1"` |nbsp| |nbsp| |nbsp| (legacy)
This is a deprecated legacy attribute. In versions prior to 2.3.0, it determined the maximum size of the This is a deprecated legacy attribute. In versions prior to 2.3.0, it determined the maximum size of the
:ref:`stack <siStack>`. Currently it is synonymous with the :at:`memory` attribute above, but is in units of :ref:`stack <siStack>`. After version 2.3.0, if :at:`nstack` is specified, then the size of ``mjData.arena`` is
``sizeof(mjtNum)`` rather than bytes. Specifying both :at:`nstack` and :at:`memory` leads to an error. ``nstack * sizeof(mjtNum)`` bytes, plus an additional space for the constraint solver. Specifying both :at:`nstack`
and :at:`memory` leads to an error.
:at:`nuserdata`: :at-val:`int, "0"` :at:`nuserdata`: :at-val:`int, "0"`
The size of the field mjData.userdata of mjData. This field should be used to store custom dynamic variables. See The size of the field mjData.userdata of mjData. This field should be used to store custom dynamic variables. See
also :ref:`CUser`. also :ref:`CUser`.