Move mju_cholFactorCount to engine_util_solve.

PiperOrigin-RevId: 746011856 Change-Id: If9812251420053644f4eca81adb5116d370ee524
2025-04-10 06:55:37 -07:00
parent 3c530976e3
commit 25126e88c7
7 changed files with 150 additions and 152 deletions
@@ -38,6 +38,10 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
                         int* rownnz, const int* rowadr, int* colind,
                         mjData* d);

+// precount row non-zeros of reverse-Cholesky factor L, return total
+MJAPI int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr,
+                              const int* colind, int n, mjData* d);
+
 // sparse reverse-order Cholesky solve
 void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
                         const int* rownnz, const int* rowadr, const int* colind);