corrections

2024-02-26 12:03:42 +05:30
parent 41e41b538d
commit 063edf5a09
1 changed files with 62 additions and 61 deletions
@@ -776,8 +776,7 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,


 // compute subtree angular momentum matrix
-void mj_subtreeAngMomMat(const mjModel *m, mjData *d, mjtNum *agm, int body)
-{
+void mj_subtreeAngMomMat(const mjModel *m, mjData *d, mjtNum *agm, int body) {
  int nv = m->nv;
  mj_markStack(d);
  mjtNum* jacp_b = mj_stackAllocNum(d, 3*nv);
@@ -841,6 +840,8 @@ void mj_subtreeAngMomMat(const mjModel *m, mjData *d, mjtNum *agm, int body)
    mju_addTo(agm, term1, 3*nv);
    mju_addTo(agm, term2, 3*nv);
  }
+
+  mj_freeStack(d);
 }