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Sparse ten_J and ten_J_colind memory

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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
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Google DeepMind
2026-02-11 14:04:45 -08:00
committed by Copybara-Service
parent b466829482
commit 336e1026a4
21 changed files with 43 additions and 118 deletions
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src/user/user_model.h
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@@ -130,7 +130,6 @@ class mjCModel_ : public mjsElement {
mjtSize nC; // number of non-zeros in reduced sparse dof-dof matrix
mjtSize nD; // number of non-zeros in sparse dof-dof matrix
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
// statistics, as computed by mj_setConst
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
@@ -369,7 +368,6 @@ class mjCModel : public mjCModel_, private mjSpec {
void FinalizeSimple(mjModel* m); // finalize simple bodies/dofs including tendon information
void CopyPlugins(mjModel*); // copy plugin data
int CountNJmom(const mjModel* m); // compute number of non-zeros in actuator_moment matrix
int CountNJten(const mjModel* m); // compute number of non-zeros in ten_J matrix
// remove plugins that are not referenced by any object
void RemovePlugins();