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Remove transposed Jacobian fields from mjData

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No longer computed unconditionally, only ad-hoc where required.

PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
This commit is contained in:
Yuval Tassa
2025-08-21 07:20:29 -07:00
committed by Copybara-Service
parent 5fe4224ae7
commit 2f28473bc1
10 changed files with 33 additions and 178 deletions
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include/mujoco/mjdata.h
-10
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@@ -377,12 +377,7 @@ struct mjData_ {
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nJ x 1)
int* efc_JT_rownnz; // number of non-zeros in constraint Jacobian row T (nv x 1)
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
int* efc_JT_colind; // column indices in constraint Jacobian T (nJ x 1)
mjtNum* efc_J; // constraint Jacobian (nJ x 1)
mjtNum* efc_JT; // constraint Jacobian transposed (nJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
@@ -427,12 +422,7 @@ struct mjData_ {
int* iefc_J_rowadr; // row start address in colind array (nefc x 1)
int* iefc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* iefc_J_colind; // column indices in constraint Jacobian (nJ x 1)
int* iefc_JT_rownnz; // number of non-zeros in constraint Jacobian row T (nidof x 1)
int* iefc_JT_rowadr; // row start address in colind array T (nidof x 1)
int* iefc_JT_rowsuper; // number of subsequent rows in supernode T (nidof x 1)
int* iefc_JT_colind; // column indices in constraint Jacobian T (nJ x 1)
mjtNum* iefc_J; // constraint Jacobian (nJ x 1)
mjtNum* iefc_JT; // constraint Jacobian transposed (nJ x 1)
mjtNum* iefc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* iefc_D; // constraint mass (nefc x 1)
mjtNum* iefc_R; // inverse constraint mass (nefc x 1)
include/mujoco/mjxmacro.h
-10
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@@ -729,12 +729,7 @@
XNV( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, efc_J_colind, MJ_D(nJ), 1 ) \
XNV( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
XNV( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
XNV( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
XNV( int, efc_JT_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, efc_J, MJ_D(nJ), 1 ) \
XNV( mjtNum, efc_JT, MJ_D(nJ), 1 ) \
X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
@@ -786,12 +781,7 @@
XNV( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_colind, MJ_D(nJ), 1 ) \
XNV( int, iefc_JT_rownnz, MJ_D(nidof), 1 ) \
XNV( int, iefc_JT_rowadr, MJ_D(nidof), 1 ) \
XNV( int, iefc_JT_rowsuper, MJ_D(nidof), 1 ) \
XNV( int, iefc_JT_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
XNV( mjtNum, iefc_JT, MJ_D(nJ), 1 ) \
X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \