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Rename efc_diagApprox -> efc_diagA.

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The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.

PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
This commit is contained in:
Yuval Tassa
2026-05-31 04:53:36 -07:00
committed by Copybara-Service
parent cd6db9ebe2
commit 4548e81e4d
13 changed files with 32 additions and 28 deletions
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doc/changelog.rst
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@@ -28,6 +28,10 @@ General
(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
allocated on the stack.
- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
the :math:`A` ("Delassus") matrix.
Bug fixes
^^^^^^^^^
- Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.