def test_buf_to_npy_no_memory_leak(self):
"""Ensures we can call buf_to_npy without leaking memory."""
model = core.MjModel.from_xml_string("<mujoco/>")
src = model._ptr.contents.name_geomadr
shape = (model.ngeom, )
# This uses high water marks to find memory leaks in native code.
old_max = resource.getrusage(resource.RUSAGE_SELF).ru_maxrss
for _ in xrange(_NUM_CALLS):
buf = util.buf_to_npy(src, shape)
del buf
new_max = resource.getrusage(resource.RUSAGE_SELF).ru_maxrss
growth = new_max - old_max
if growth > _RSS_GROWTH_TOLERANCE:
self.fail("RSS grew by {} bytes, exceeding tolerance of {} bytes.".
format(growth, _RSS_GROWTH_TOLERANCE))
def test_buf_to_npy_no_memory_leak(self):
"""Ensures we can call buf_to_npy without leaking memory."""
model = wrapper.MjModel.from_xml_string("<mujoco/>")
src = model._ptr.contents.name_geomadr
shape = (model.ngeom,)
# This uses high water marks to find memory leaks in native code.
old_max = resource.getrusage(resource.RUSAGE_SELF).ru_maxrss
for _ in range(_NUM_CALLS):
buf = util.buf_to_npy(src, shape)
del buf
new_max = resource.getrusage(resource.RUSAGE_SELF).ru_maxrss
growth = new_max - old_max
self.assertLessEqual(
growth, _RSS_GROWTH_TOLERANCE,
msg=("The Resident Set Size (RSS) of this process grew by {} bytes, "
"exceeding the tolerance of {} bytes."
.format(growth, _RSS_GROWTH_TOLERANCE)))
def _geoms_buffer(self): """Cached recarray containing the full geom buffer.""" return util.buf_to_npy(super(MjvScene, self).geoms, shape=(self.maxgeom,))
def _contact_buffer(self):
"""Cached structured array containing the full contact buffer."""
contact_array = util.buf_to_npy(
super(MjData, self).contact, shape=(self._model.nconmax,))
return contact_array
def _collect_geometries(self):
# collect geometries structs
_geoms = util.buf_to_npy(self._scene._ptr.contents.geoms,
(self._scene.ngeom, ))
# parse this geometries into our format
self._parse_geometries(_geoms)
