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Switch mj_solveM_island to use CSR representation

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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
This commit is contained in:
Yuval Tassa
2025-01-20 18:34:58 -08:00
committed by Copybara-Service
parent a5ab7a9515
commit 2624d524ba
4 changed files with 80 additions and 72 deletions
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src/engine/engine_core_smooth.h
+2 -1
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@@ -71,8 +71,9 @@ MJAPI void mj_solveLDs(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, i
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
// TODO(tassa): Restore mjData const-ness.
// sparse backsubstitution for one island: x = inv(L'*D*L)*x, use factorization in d
MJAPI void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* x, int island);
MJAPI void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* x, int island);
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,