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
@@ -623,6 +623,9 @@
    XMJV( int,       wrap_obj,          nwrap,       2           ) \
    XMJV( mjtNum,    wrap_xpos,         nwrap,       6           ) \
    X   ( mjtNum,    actuator_length,   nu,          1           ) \
+    X   ( int,       moment_rownnz,     nu,          1           ) \
+    X   ( int,       moment_rowadr,     nu,          1           ) \
+    X   ( int,       moment_colind,     nu,          MJ_M(nv)    ) \
    X   ( mjtNum,    actuator_moment,   nu,          MJ_M(nv)    ) \
    X   ( mjtNum,    crb,               nbody,       10          ) \
    X   ( mjtNum,    qM,                nM,          1           ) \