Remove unused mjData argument in private function mj_solveLD.

PiperOrigin-RevId: 464087933 Change-Id: Ibe9e9713680a02bfe098c39191f9b706e2c70c12
2022-07-29 08:52:16 -07:00
parent fcf4131771
commit 52d78f8d24
4 changed files with 6 additions and 6 deletions
@@ -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