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Roll back recent change to mjData.qLD until some issues are resolved.

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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
This commit is contained in:
Yuval Tassa
2025-02-07 10:20:41 -08:00
committed by Copybara-Service
parent 06758e35ab
commit 5ee0654830
22 changed files with 153 additions and 151 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -300,7 +300,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData