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Refactor mj_mulM to use CSR structure

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PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
This commit is contained in:
Yuval Tassa
2025-08-18 09:08:45 -07:00
committed by Copybara-Service
parent c2ff60e630
commit 424226b640
4 changed files with 3 additions and 67 deletions
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doc/APIreference/functions.rst
+1 -4
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@@ -474,10 +474,7 @@ pedagogical examples.
.. mujoco-include:: mj_mulM
This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format
that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with
mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from
sparsity.
This function multiplies the joint-space inertia matrix stored in ``mjData.M`` by a vector.
.. _mj_mulM2:
doc/APIreference/functions_override.rst
+1 -4
View File
@@ -276,10 +276,7 @@ pedagogical examples.
.. _mj_mulM:
This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format
that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with
mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from
sparsity.
This function multiplies the joint-space inertia matrix stored in ``mjData.M`` by a vector.
.. _mj_applyFT: