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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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include/mujoco/mujoco.h
+2 -2
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@@ -386,10 +386,10 @@ MJAPI int mj_isSparse(const mjModel* m);
MJAPI int mj_isDual(const mjModel* m);
// Multiply dense or sparse constraint Jacobian by vector.
MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// Multiply dense or sparse constraint Jacobian transpose by vector.
MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.
MJAPI void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,