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Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.

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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
This commit is contained in:
Yuval Tassa
2025-05-13 10:19:22 -07:00
committed by Copybara-Service
parent 436b5a8e1f
commit 627fffdef9
18 changed files with 99 additions and 101 deletions
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test/benchmark/solveLD_benchmark_test.cc
+3 -2
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@@ -53,7 +53,8 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
// scatter into legacy matrix
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_scatter(LDlegacy, d->qLD, d->mapM2M, m->nM);
mju_zero(LDlegacy, m->nM);
mju_scatter(LDlegacy, d->qLD, d->mapM2C, m->nC);
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
@@ -63,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
} else {
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}
}