Add actuator_moment Jacobian sparsity pattern to mjData.

PiperOrigin-RevId: 688124236 Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
2024-10-21 07:10:17 -07:00
parent b00a7c6705
commit 36e8845599
5 changed files with 36 additions and 0 deletions
@@ -289,6 +289,9 @@ struct mjData_ {

  // computed by mj_fwdPosition/mj_transmission
  mjtNum* actuator_length;   // actuator lengths                                 (nu x 1)
+  int*    moment_rownnz;     // number of non-zeros in actuator_moment row       (nu x 1)
+  int*    moment_rowadr;     // row start address in colind array                (nu x 1)
+  int*    moment_colind;     // column indices in sparse Jacobian                (nu x nv)
  mjtNum* actuator_moment;   // actuator moments                                 (nu x nv)

  // computed by mj_fwdPosition/mj_crb