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
@@ -5144,6 +5144,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 doc='actuator lengths',
                 array_extent=('nu',),
             ),
+             StructFieldDecl(
+                 name='moment_rownnz',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of non-zeros in actuator_moment row',
+                 array_extent=('nu',),
+             ),
+             StructFieldDecl(
+                 name='moment_rowadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='row start address in colind array',
+                 array_extent=('nu',),
+             ),
+             StructFieldDecl(
+                 name='moment_colind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='column indices in sparse Jacobian',
+                 array_extent=('nu', 'nv'),
+             ),
             StructFieldDecl(
                 name='actuator_moment',
                 type=PointerType(