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Add reduced sparse dof-dof matrix structures to mjData.

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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
This commit is contained in:
Yuval Tassa
2024-09-04 04:22:43 -07:00
committed by Copybara-Service
parent 42eb669e4e
commit 3437361bfb
14 changed files with 265 additions and 201 deletions
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test/pipeline_test.cc
+3 -1
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@@ -41,7 +41,9 @@ using PipelineTest = MujocoTest;
// Joint and actuator damping should integrate identically under implicit
TEST_F(PipelineTest, SparseDenseEquivalent) {
const std::string xml_path = GetTestDataFilePath(kDefaultModel);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_NE(model, nullptr) << error;
mjData* data = mj_makeData(model);
// set dense jacobian, call mj_forward, save accelerations