From 52d78f8d24570631031770fecbda838b11cd1ed0 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 29 Jul 2022 08:52:16 -0700
Subject: [PATCH] Remove unused `mjData` argument in private function
 `mj_solveLD`.

PiperOrigin-RevId: 464087933
Change-Id: Ibe9e9713680a02bfe098c39191f9b706e2c70c12
---
 src/engine/engine_core_smooth.c       | 4 ++--
 src/engine/engine_core_smooth.h       | 2 +-
 src/engine/engine_forward.c           | 2 +-
 test/engine/engine_derivative_test.cc | 4 ++--
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index c8c88907..133d3a6b 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -931,7 +931,7 @@ void mj_factorM(const mjModel* m, mjData* d) {
 // sparse backsubstitution:  x = inv(L'*D*L)*y
 //  L is in lower triangle of qLD; D is on diagonal of qLD
 //  handle n vectors at once
-void mj_solveLD(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n,
+void mj_solveLD(const mjModel* m, mjtNum* x, const mjtNum* y, int n,
                 const mjtNum* qLD, const mjtNum* qLDiagInv) {
   mjtNum tmp;
 
@@ -1051,7 +1051,7 @@ void mj_solveLD(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n,
 // sparse backsubstitution:  x = inv(L'*D*L)*y
 //  use factorization in d
 void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
-  mj_solveLD(m, d, x, y, n, d->qLD, d->qLDiagInv);
+  mj_solveLD(m, x, y, n, d->qLD, d->qLDiagInv);
 }
 
 
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index e45ac0fc..86525c1a 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -56,7 +56,7 @@ MJAPI void mj_factorI(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD,
 MJAPI void mj_factorM(const mjModel* m, mjData* d);
 
 // sparse backsubstitution:  x = inv(L'*D*L)*y
-MJAPI void mj_solveLD(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n,
+MJAPI void mj_solveLD(const mjModel* m, mjtNum* x, const mjtNum* y, int n,
                       const mjtNum* qLD, const mjtNum* qLDiagInv);
 
 // sparse backsubstitution:  x = inv(L'*D*L)*y, use factorization in d
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index ebefa47e..cae51fa1 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -519,7 +519,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
 
     // solve
     mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
-    mj_solveLD(m, d, qacc, qfrc, 1, d->qH, d->qHDiagInv);
+    mj_solveLD(m, qacc, qfrc, 1, d->qH, d->qHDiagInv);
   }
 
   // advance state and time
diff --git a/test/engine/engine_derivative_test.cc b/test/engine/engine_derivative_test.cc
index 10d7322a..066a1dc3 100644
--- a/test/engine/engine_derivative_test.cc
+++ b/test/engine/engine_derivative_test.cc
@@ -289,7 +289,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
       Ac[i*nv + i]  = -m->jnt_stiffness[i];
       Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
     }
-    mj_solveLD(m, d, Ac, Ac, 2*nv, d->qH, d->qHDiagInv);
+    mj_solveLD(m, Ac, Ac, 2*nv, d->qH, d->qHDiagInv);
 
     // A = [dt*Ac; Ac]
     mju_transpose(A, Ac, 2*nv, nv);
@@ -314,7 +314,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
   if (B) {
     mjtNum *Bc = mj_stackAlloc(d, nu*nv);
     mjtNum *BcT = mj_stackAlloc(d, nv*nu);
-    mj_solveLD(m, d, Bc, d->actuator_moment, nu, d->qH, d->qHDiagInv);
+    mj_solveLD(m, Bc, d->actuator_moment, nu, d->qH, d->qHDiagInv);
     mju_transpose(BcT, Bc, nu, nv);
     mju_scl(B, BcT, dt*dt, nu*nv);
     mju_scl(B+nu*nv, BcT, dt, nu*nv);