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Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.

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PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
This commit is contained in:
Kyle Bayes
2023-03-15 06:55:28 -07:00
committed by Copybara-Service
parent fe18e58ad2
commit 056e849273
7 changed files with 830 additions and 131 deletions
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doc/changelog.rst
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@@ -18,7 +18,7 @@ General
~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
- Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
- Implemented a performant :ref:`mju_sqrMatTDSparse` function that doesn't require dense memory allocation.
Python bindings