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Implement hash map for mj_name2id using djb2 and linear probing.

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PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
This commit is contained in:
Kyle Bayes
2023-01-04 07:57:11 -08:00
committed by Copybara-Service
parent 5261cceb30
commit f1007df013
11 changed files with 404 additions and 106 deletions
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test/engine/engine_support_test.cc
+108
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@@ -155,6 +155,114 @@ TEST_F(JacobianTest, SubtreeJacNoInternalAcc) {
mj_deleteModel(model);
}
using Name2idTest = MujocoTest;
static constexpr char name2idTestingModel[] = R"(
<mujoco>
<asset>
<texture name="texture1" type="2d" builtin="checker" rgb1="1 1 1"
rgb2="1 1 1" width="300" height="300" mark="none"/>
<material name="material1" texture="texture1" texrepeat="1 1"
texuniform="true" reflectance=".2"/>
</asset>
<asset>
<mesh name="mesh1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<light name="light1" pos="0 0 1"/>
<site name="site1" pos="0 0 .3" size=".01"/>
<site name="site2" pos="-.1 -.1 -.1" size=".01"/>
<camera name="camera1" pos="0 -1.3 .5" xyaxes="1 0 0 0 1 2"/>
<body name="body1">
<joint axis="0 1 0" name="joint1"/>
<geom size="1" name="body1_geom1"/>
<geom size="1" name="body1_geom2"/>
</body>
<body name="body2">
<joint axis="0 1 0" name="joint2"/>
<geom size="1" name="body2_geom1"/>
<geom size="1" name="camera1"/>
</body>
<body name="">
</body>
</worldbody>
<tendon>
<spatial name="tendon1" limited="true" range="0 0.35" width="0.003">
<site site="site1"/>
<site site="site2"/>
</spatial>
</tendon>
<actuator>
<motor name="actuator1" joint="joint1" gear="1"/>
</actuator>
<sensor>
<accelerometer name="sensor1" site="site1"/>
</sensor>
</mujoco>
)";
TEST_F(Name2idTest, FindIds) {
mjModel* model = LoadModelFromString(name2idTestingModel);
EXPECT_THAT(mj_name2id(model, mjOBJ_BODY, "world"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_BODY, "body1"), 1);
EXPECT_THAT(mj_name2id(model, mjOBJ_BODY, "body2"), 2);
EXPECT_THAT(mj_name2id(model, mjOBJ_GEOM, "body1_geom1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_GEOM, "body1_geom2"), 1);
EXPECT_THAT(mj_name2id(model, mjOBJ_JOINT, "joint2"), 1);
EXPECT_THAT(mj_name2id(model, mjOBJ_MESH, "mesh1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_LIGHT, "light1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_CAMERA, "camera1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_SITE, "site2"), 1);
EXPECT_THAT(mj_name2id(model, mjOBJ_MATERIAL, "material1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_TEXTURE, "texture1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_TENDON, "tendon1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_ACTUATOR, "actuator1"), 0);
EXPECT_THAT(mj_name2id(model, mjOBJ_SENSOR, "sensor1"), 0);
mj_deleteModel(model);
}
TEST_F(Name2idTest, MissingIds) {
mjModel* model = LoadModelFromString(name2idTestingModel);
EXPECT_THAT(mj_name2id(model, mjOBJ_BODY, "abody3"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_GEOM, "abody2_geom2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_JOINT, "joint3"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_MESH, "amesh2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_LIGHT, "alight2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_CAMERA, "acamera2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_SITE, "asite3"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_MATERIAL, "amaterial2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_TEXTURE, "atexture2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_TENDON, "atendon2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_ACTUATOR, "aactuator2"), -1);
EXPECT_THAT(mj_name2id(model, mjOBJ_SENSOR, "asensor2"), -1);
mj_deleteModel(model);
}
TEST_F(Name2idTest, EmptyIds) {
mjModel* model = LoadModelFromString(name2idTestingModel);
EXPECT_THAT(mj_name2id(model, mjOBJ_BODY, ""), -1);
mj_deleteModel(model);
}
TEST_F(Name2idTest, Namespaces) {
mjModel* model = LoadModelFromString(name2idTestingModel);
EXPECT_THAT(mj_name2id(model, mjOBJ_GEOM, "camera1"), 3);
mj_deleteModel(model);
}
using VersionTest = MujocoTest;
TEST_F(VersionTest, MjVersion) {