Matija Kecman
9f3babd60c
PiperOrigin-RevId: 895832492 Change-Id: I6cc56b0e4b002b2998579cde95f4b88dfbd88184
79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
// Copyright 2025 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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#include "experimental/platform/sim/sim_history.h"
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#include <algorithm>
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#include <climits>
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#include <span>
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#include <mujoco/mujoco.h>
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namespace mujoco::platform {
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void SimHistory::Init(int state_size, int max_history, int max_bytes) {
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// History buffer will be smaller of number of states and total memory.
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const int state_bytes = state_size * sizeof(mjtNum);
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const int history_length = std::min(INT_MAX / state_bytes, max_history);
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const int history_bytes = std::min(state_bytes * history_length, max_bytes);
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const int max_states = std::max(1, history_bytes / state_bytes);
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history_.resize(max_states);
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for (State& state : history_) {
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state.resize(state_size, 0);
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}
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cursor_ = 0;
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offset_ = 0;
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size_ = 0;
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}
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std::span<mjtNum> SimHistory::AddToHistory() {
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const int max_size = history_.size();
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if (offset_ != 0) {
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// offset will be a negative number between 1 - history_.size() and 0.
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size_ += offset_;
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cursor_ += offset_;
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if (cursor_ < 0) {
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cursor_ += max_size;
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}
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offset_ = 0;
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}
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std::span<mjtNum> state;
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if (max_size > 0 && cursor_ < max_size) {
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state = history_[cursor_];
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cursor_ = (cursor_ + 1) % max_size;
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size_ = std::min(size_ + 1, max_size);
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}
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return state;
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}
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std::span<mjtNum> SimHistory::SetIndex(int offset) {
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const int size = history_.size();
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if (size > 0) {
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offset_ = std::clamp<int>(offset, 1 - size, 0);
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}
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if (history_.empty()) {
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return {};
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}
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const int actual_index =
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(cursor_ - 1 + offset_ + history_.size()) % history_.size();
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return history_[actual_index];
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}
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} // namespace mujoco::platform
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