Nimrod Gileadi
f976d6d228
std::function can have an allocation cost when it's created, and also adds overhead to function calls. Since this API must be used from C, using a raw function pointer is good enough. PiperOrigin-RevId: 562760324 Change-Id: I2b714a13e07a2b71566d013f21f76c506e817a52
48 lines
1.2 KiB
C
48 lines
1.2 KiB
C
// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
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#define MUJOCO_INCLUDE_MJTHREAD_H_
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// C API for MuJoCo threading
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stddef.h>
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#include <mujoco/mjexport.h>
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// These types are implemented in C++, they're just used as opaque pointers in C
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// to provide type safety for functions.
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struct mjTask_ {
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char buffer[24];
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};
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typedef struct mjTask_ mjTask;
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struct mjThreadPool_ {
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char buffer[6208];
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};
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typedef struct mjThreadPool_ mjThreadPool;
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typedef void*(*mjStartRoutine_)(void*);
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typedef mjStartRoutine_ mjStartRoutine;
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_INCLUDE_MJTHREAD_H_
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