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Compute diagonal indices in mj_sqrMatTDSparse

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PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
This commit is contained in:
Yuval Tassa
2025-01-09 10:16:37 -08:00
committed by Copybara-Service
parent daba00ca9d
commit 00010f5848
6 changed files with 53 additions and 34 deletions
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src/engine/engine_solver.c
+2 -2
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@@ -1424,7 +1424,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
d, /*flg_upper=*/0);
d, /*diagind=*/NULL);
// add mass matrix: H = J'*D*J + C
mj_addMSparse(m, d, ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
@@ -1518,7 +1518,7 @@ static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
d, /*flg_upper=*/0);
d, /*diagind=*/NULL);
// add mass matrix: H = J'*D*J + C
mj_addMSparse(m, d, ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,