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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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src/engine/engine_print.c
-2
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@@ -1236,8 +1236,6 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArrayInt("EFC_J_ROWADR", d->nefc, 1, d->efc_J_rowadr, fp);
printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz,
d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
mj_printSparsity("JT: constraint Jacobian transposed", m->nv, d->nefc, d->efc_JT_rowadr, NULL,
d->efc_JT_rownnz, d->efc_JT_rowsuper, d->efc_JT_colind, fp);
if (mj_isDual(m)) {
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);