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Precompute mappings between M <-> D sparse representations.

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PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
This commit is contained in:
Yuval Tassa
2024-09-04 02:56:05 -07:00
committed by Copybara-Service
parent 303e5e7718
commit 42eb669e4e
11 changed files with 156 additions and 79 deletions
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src/engine/engine_support.h
-9
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@@ -148,15 +148,6 @@ MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);
//-------------------------- sparse system matrix conversion ---------------------------------------
// dst[D] = src[M], handle different sparsity representations
MJAPI void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src);
// dst[M] = src[D lower], handle different sparsity representations
MJAPI void mj_copyD2MSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src);
//-------------------------- perturbations ---------------------------------------------------------
// apply Cartesian force and torque