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Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.

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PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
This commit is contained in:
Yuval Tassa
2025-01-10 09:22:58 -08:00
committed by Copybara-Service
parent ca6162e6d0
commit 2409a6e537
9 changed files with 23 additions and 9 deletions
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test/engine/engine_io_test.cc
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@@ -157,6 +157,7 @@ TEST_F(EngineIoTest, ResetVariableSizes) {
EXPECT_EQ(data->nf, 0);
EXPECT_EQ(data->nefc, 0);
EXPECT_EQ(data->nJ, 0);
EXPECT_EQ(data->nA, 0);
EXPECT_EQ(data->ncon, 0);
mj_deleteData(data);