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Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.

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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
This commit is contained in:
Yuval Tassa
2025-03-04 17:33:48 -08:00
committed by Copybara-Service
parent 51f6aa8b43
commit 0f563ecf31
20 changed files with 95 additions and 98 deletions
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test/fixture.h
+3 -2
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@@ -113,9 +113,10 @@ inline std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
}
// Prints a matrix to stderr, useful for debugging.
inline void PrintMatrix(const mjtNum* mat, int nrow, int ncol, int p = 5) {
inline void PrintMatrix(const mjtNum* mat, int nrow, int ncol, int p = 5,
std::string_view name = "") {
std::cerr.precision(p);
std::cerr << "\n";
std::cerr << name << "\n";
for (int r = 0; r < nrow; r++) {
for (int c = 0; c < ncol; c++) {
mjtNum val = mat[c + r*ncol];