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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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test/engine/engine_core_constraint_test.cc
+2 -2
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@@ -146,7 +146,7 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
ASSERT_GT(data->time, time) << "Divergence detected";
}
int nefc_site = data->nefc;
std::vector<mjtNum> dA = AsVector(data->efc_diagApprox, nefc_site);
std::vector<mjtNum> dA = AsVector(data->efc_diagA, nefc_site);
// reset
mj_resetData(model, data);
@@ -163,7 +163,7 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
// compare
EXPECT_EQ(nefc_site, data->nefc);
EXPECT_THAT(AsVector(data->efc_diagApprox, data->nefc),
EXPECT_THAT(AsVector(data->efc_diagA, data->nefc),
Pointwise(MjNear(1e-12, 1e-4), dA));
mj_deleteData(data);