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Remove unused mjData argument in private function mj_solveLD.

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PiperOrigin-RevId: 464087933
Change-Id: Ibe9e9713680a02bfe098c39191f9b706e2c70c12
This commit is contained in:
Yuval Tassa
2022-07-29 08:52:16 -07:00
committed by Copybara-Service
parent fcf4131771
commit 52d78f8d24
4 changed files with 6 additions and 6 deletions
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src/engine/engine_core_smooth.c
+2 -2
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@@ -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);
}