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Tighten const qualifiers of mjData in Jacobian multiplication functions.

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PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
This commit is contained in:
Yuval Tassa
2023-08-31 11:26:30 -07:00
committed by Copybara-Service
parent f9c57f6213
commit 02e819e76a
5 changed files with 18 additions and 17 deletions
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doc/includes/references.h
+2 -2
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@@ -2268,8 +2268,8 @@ int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);
int mj_isSparse(const mjModel* m);
int mj_isDual(const mjModel* m);
void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);