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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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include/mujoco/mjdata.h
+1 -1
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@@ -341,7 +341,7 @@ struct mjData_ {
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_diagA; // diagonal of A matrix, approximate or exact (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
include/mujoco/mjxmacro.h
+1 -1
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@@ -933,7 +933,7 @@
X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_diagA, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
X ( mjtNum, efc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_R, MJ_D(nefc), 1 ) \