Improve upper bound for nJmom by computing maximum number of dofs for tendon transmissions

PiperOrigin-RevId: 874057077 Change-Id: I83736719cc2d91a899cd5997ea4a91d21cf06c9e
2026-02-23 07:10:49 -08:00
parent 2bf9539234
commit 37e993f67e
2 changed files with 44 additions and 38 deletions
@@ -368,6 +368,8 @@ class mjCModel : public mjCModel_, private mjSpec {
  void CopyTree(mjModel*);              // copy objects inside kinematic tree
  void FinalizeSimple(mjModel* m);      // finalize simple bodies/dofs including tendon information
  void CopyPlugins(mjModel*);           // copy plugin data
+  int CountTendonDofs(const mjModel* m, // compute number of dofs for a given tendon
+                      int id);
  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