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ahoarauahoarau
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using nonblocking and noexcept
nonblocking to trigger the rtsan (nonallocating is only for compile-timeà noexcept to avoid a compile warning
1 parent 0331802 commit f0f4679

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+29
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‎unittest/dynamic-allocations.cpp‎

Lines changed: 29 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,7 @@ void runKinematicsTest(const Model & model, Data & data)
6262
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
6363
const Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
6464

65-
[&]() [[clang::nonallocating]] {
65+
[&]() noexcept [[clang::nonblocking]] {
6666
// Forward kinematics (position only)
6767
forwardKinematics(model, data, q);
6868

@@ -82,7 +82,7 @@ void runJacobianTest(const Model & model, Data & data)
8282
const Eigen::VectorXd q = randomConfiguration(model);
8383
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
8484

85-
[&]() [[clang::nonallocating]] {
85+
[&]() noexcept [[clang::nonblocking]] {
8686
// Compute joint Jacobians
8787
computeJointJacobians(model, data, q);
8888
}();
@@ -91,7 +91,7 @@ void runJacobianTest(const Model & model, Data & data)
9191
const Data::Matrix6x J = Data::Matrix6x::Zero(6, model.nv);
9292
const JointIndex joint_id = static_cast<JointIndex>(model.njoints - 1);
9393

94-
[&]() [[clang::nonallocating]] {
94+
[&]() noexcept [[clang::nonblocking]] {
9595
getJointJacobian(model, data, joint_id, LOCAL, J);
9696
getJointJacobian(model, data, joint_id, WORLD, J);
9797
getJointJacobian(model, data, joint_id, LOCAL_WORLD_ALIGNED, J);
@@ -106,7 +106,7 @@ void runNonLinearEffectsTest(const Model & model, Data & data)
106106
const Eigen::VectorXd q = randomConfiguration(model);
107107
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
108108

109-
[&]() [[clang::nonallocating]] {
109+
[&]() noexcept [[clang::nonblocking]] {
110110
// Non-linear effects
111111
nonLinearEffects(model, data, q, v);
112112
}();
@@ -118,7 +118,7 @@ void runRNEATest(const Model & model, Data & data)
118118
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
119119
const Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
120120

121-
[&]() [[clang::nonallocating]] {
121+
[&]() noexcept [[clang::nonblocking]] {
122122
// RNEA (Recursive Newton-Euler Algorithm)
123123
rnea(model, data, q, v, a);
124124
}();
@@ -128,7 +128,7 @@ void runCRBATest(const Model & model, Data & data)
128128
{
129129
const Eigen::VectorXd q = randomConfiguration(model);
130130

131-
[&]() [[clang::nonallocating]] {
131+
[&]() noexcept [[clang::nonblocking]] {
132132
// CRBA (Composite Rigid Body Algorithm)
133133
crba(model, data, q);
134134
crba(model, data, q, Convention::WORLD);
@@ -142,7 +142,7 @@ void runABATest(const Model & model, Data & data)
142142
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
143143
const Eigen::VectorXd tau = Eigen::VectorXd::Random(model.nv);
144144

145-
[&]() [[clang::nonallocating]] {
145+
[&]() noexcept [[clang::nonblocking]] {
146146
// ABA (Articulated Body Algorithm)
147147
aba(model, data, q, v, tau);
148148
}();
@@ -155,7 +155,7 @@ void runDerivativesTest(const Model & model, Data & data)
155155
const Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
156156
const Eigen::VectorXd tau = Eigen::VectorXd::Random(model.nv);
157157

158-
[&]() [[clang::nonallocating]] {
158+
[&]() noexcept [[clang::nonblocking]] {
159159
// Compute forward kinematics derivatives
160160
computeForwardKinematicsDerivatives(model, data, q, v, a);
161161
}();
@@ -165,7 +165,7 @@ void runDerivativesTest(const Model & model, Data & data)
165165
const Data::MatrixXs rnea_partial_dv = Data::MatrixXs::Zero(model.nv, model.nv);
166166
const Data::MatrixXs rnea_partial_da = Data::MatrixXs::Zero(model.nv, model.nv);
167167

168-
[&]() [[clang::nonallocating]] {
168+
[&]() noexcept [[clang::nonblocking]] {
169169
computeRNEADerivatives(model, data, q, v, a, rnea_partial_dq, rnea_partial_dv, rnea_partial_da);
170170
}();
171171

@@ -174,7 +174,7 @@ void runDerivativesTest(const Model & model, Data & data)
174174
const Data::MatrixXs aba_partial_dv = Data::MatrixXs::Zero(model.nv, model.nv);
175175
const Data::MatrixXs aba_partial_dtau = Data::MatrixXs::Zero(model.nv, model.nv);
176176

177-
[&]() [[clang::nonallocating]] {
177+
[&]() noexcept [[clang::nonblocking]] {
178178
computeABADerivatives(model, data, q, v, tau, aba_partial_dq, aba_partial_dv, aba_partial_dtau);
179179
}();
180180
}
@@ -185,7 +185,7 @@ void runCenterOfMassTest(const Model & model, Data & data)
185185
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
186186
const Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
187187

188-
[&]() [[clang::nonallocating]] {
188+
[&]() noexcept [[clang::nonblocking]] {
189189
// Compute center of mass position
190190
centerOfMass(model, data, q);
191191

@@ -206,7 +206,7 @@ void runCenterOfMassDerivativesTest(const Model & model, Data & data)
206206
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
207207
Data::Matrix3x vcom_partial_dq = Data::Matrix3x::Zero(3, model.nv);
208208

209-
[&]() [[clang::nonallocating]] {
209+
[&]() noexcept [[clang::nonblocking]] {
210210
// Center of mass derivatives
211211
getCenterOfMassVelocityDerivatives(model, data, vcom_partial_dq);
212212
}();
@@ -222,7 +222,7 @@ void runCentroidalDynamicsTest(const Model & model, Data & data)
222222
Data::Matrix6x dhdot_dv = Data::Matrix6x::Zero(6, model.nv);
223223
Data::Matrix6x dhdot_da = Data::Matrix6x::Zero(6, model.nv);
224224

225-
[&]() [[clang::nonallocating]] {
225+
[&]() noexcept [[clang::nonblocking]] {
226226
// Compute centroidal momentum
227227
computeCentroidalMomentum(model, data, q, v);
228228

@@ -241,7 +241,7 @@ void runFrameAlgorithmsTest(const Model & model, Data & data)
241241
{
242242
const Eigen::VectorXd q = randomConfiguration(model);
243243

244-
[&]() [[clang::nonallocating]] {
244+
[&]() noexcept [[clang::nonblocking]] {
245245
// Update frame placements
246246
updateFramePlacements(model, data);
247247

@@ -258,7 +258,7 @@ void runFrameAlgorithmsTest(const Model & model, Data & data)
258258

259259
for (FrameIndex frame_idx = 0; frame_idx < static_cast<FrameIndex>(model.nframes); ++frame_idx)
260260
{
261-
[&]() [[clang::nonallocating]] {
261+
[&]() noexcept [[clang::nonblocking]] {
262262
getFrameJacobian(model, data, frame_idx, LOCAL, frame_J);
263263
getFrameJacobian(model, data, frame_idx, WORLD, frame_J);
264264
getFrameJacobian(model, data, frame_idx, LOCAL_WORLD_ALIGNED, frame_J);
@@ -289,7 +289,7 @@ void runFrameAlgorithmsTest(const Model & model, Data & data)
289289
// Frame derivatives
290290
if (!hasMimicJoints(model))
291291
{
292-
[&]() [[clang::nonallocating]] {
292+
[&]() noexcept [[clang::nonblocking]] {
293293
getFrameVelocityDerivatives(model, data, frame_idx, LOCAL, v_partial_dq, v_partial_dv);
294294
getFrameAccelerationDerivatives(
295295
model, data, frame_idx, LOCAL, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da);
@@ -303,15 +303,15 @@ void runComputeAllTermsTest(const Model & model, Data & data)
303303
const Eigen::VectorXd q = randomConfiguration(model);
304304
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
305305

306-
[&]() [[clang::nonallocating]] { computeAllTerms(model, data, q, v); }();
306+
[&]() noexcept [[clang::nonblocking]] { computeAllTerms(model, data, q, v); }();
307307
}
308308

309309
void runEnergyTest(const Model & model, Data & data)
310310
{
311311
const Eigen::VectorXd q = randomConfiguration(model);
312312
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
313313

314-
[&]() [[clang::nonallocating]] {
314+
[&]() noexcept [[clang::nonblocking]] {
315315
// Compute kinetic energy
316316
computeKineticEnergy(model, data, q, v);
317317

@@ -324,7 +324,7 @@ void runComputeGeneralizedGravityTest(const Model & model, Data & data)
324324
{
325325
const Eigen::VectorXd q = randomConfiguration(model);
326326

327-
[&]() [[clang::nonallocating]] {
327+
[&]() noexcept [[clang::nonblocking]] {
328328
// Compute generalized gravity
329329
computeGeneralizedGravity(model, data, q);
330330
}();
@@ -334,14 +334,14 @@ void runCholeskyTest(const Model & model, Data & data)
334334
{
335335
Eigen::VectorXd v_chol = Eigen::VectorXd::Random(model.nv);
336336

337-
[&]() [[clang::nonallocating]] {
337+
[&]() noexcept [[clang::nonblocking]] {
338338
cholesky::decompose(model, data);
339339
cholesky::solve(model, data, v_chol);
340340
}();
341341

342342
Data::MatrixXs M_inv = Data::MatrixXs::Zero(model.nv, model.nv);
343343

344-
[&]() [[clang::nonallocating]] {
344+
[&]() noexcept [[clang::nonblocking]] {
345345
// Compute inverse of mass matrix using Cholesky
346346
cholesky::computeMinv(model, data, M_inv);
347347
}();
@@ -356,7 +356,7 @@ void runJointConfigurationOperationsTest(const Model & model)
356356
Eigen::VectorXd q_integrated(model.nq);
357357
Eigen::VectorXd q_interp(model.nq);
358358

359-
[&]() [[clang::nonallocating]] {
359+
[&]() noexcept [[clang::nonblocking]] {
360360
normalize(model, q);
361361
difference(model, q, q_neutral, dq);
362362
integrate(model, q, v, q_integrated);
@@ -373,7 +373,7 @@ void runJointTorqueRegressorTest(const Model & model, Data & data)
373373
const Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
374374
const Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
375375

376-
[&]() [[clang::nonallocating]] {
376+
[&]() noexcept [[clang::nonblocking]] {
377377
// Compute joint torque regressor
378378
computeJointTorqueRegressor(model, data, q, v, a);
379379
}();
@@ -401,7 +401,7 @@ void runContactDynamicsTest(const Model & model, Data & data)
401401
// Initialize contact data
402402
initConstraintDynamics(model, data, contact_models);
403403

404-
[&]() [[clang::nonallocating]] {
404+
[&]() noexcept [[clang::nonblocking]] {
405405
// Constrained forward dynamics
406406
constraintDynamics(model, data, q, v, tau, contact_models, contact_data);
407407
}();
@@ -410,7 +410,7 @@ void runContactDynamicsTest(const Model & model, Data & data)
410410
ContactCholeskyDecomposition contact_chol;
411411
contact_chol.allocate(model, contact_models);
412412

413-
[&]() [[clang::nonallocating]] {
413+
[&]() noexcept [[clang::nonblocking]] {
414414
crba(model, data, q, Convention::WORLD);
415415
contact_chol.compute(model, data, contact_models, contact_data);
416416
}();
@@ -424,7 +424,7 @@ void runContactDynamicsTest(const Model & model, Data & data)
424424
Data::MatrixXs lambda_dv = Data::MatrixXs::Zero(constraint_dim, model.nv);
425425
Data::MatrixXs lambda_dtau = Data::MatrixXs::Zero(constraint_dim, model.nv);
426426

427-
[&]() [[clang::nonallocating]] {
427+
[&]() noexcept [[clang::nonblocking]] {
428428
computeConstraintDynamicsDerivatives(
429429
model, data, contact_models, contact_data, ddq_dq, ddq_dv, ddq_dtau, lambda_dq, lambda_dv,
430430
lambda_dtau);
@@ -435,7 +435,7 @@ void runContactDynamicsTest(const Model & model, Data & data)
435435
const double r_coeff = 0.0;
436436
ProximalSettings prox_settings(1e-12, 0., 1);
437437

438-
[&]() [[clang::nonallocating]] {
438+
[&]() noexcept [[clang::nonblocking]] {
439439
impulseDynamics(
440440
model, data, q, v_before, contact_models, contact_data, r_coeff, prox_settings);
441441
}();
@@ -446,7 +446,7 @@ void runContactDynamicsTest(const Model & model, Data & data)
446446
Data::MatrixXs impulse_dq = Data::MatrixXs::Zero(constraint_dim, model.nv);
447447
Data::MatrixXs impulse_dv = Data::MatrixXs::Zero(constraint_dim, model.nv);
448448

449-
[&]() [[clang::nonallocating]] {
449+
[&]() noexcept [[clang::nonblocking]] {
450450
computeImpulseDynamicsDerivatives(
451451
model, data, contact_models, contact_data, r_coeff, prox_settings);
452452
}();
@@ -561,7 +561,7 @@ BOOST_AUTO_TEST_CASE(dynamic_allocations_humanoid_composite)
561561

562562
BOOST_AUTO_TEST_CASE(dynamic_allocations_spatial_operations)
563563
{
564-
[&]() [[clang::nonallocating]] {
564+
[&]() noexcept [[clang::nonblocking]] {
565565
// Classic acceleration
566566
SE3 M = SE3::Random();
567567
Motion v_spatial = Motion::Random();

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