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Standardize names of sparse fill-in pre-counting functions

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PiperOrigin-RevId: 712835830
Change-Id: I8e90dfa52af56ede917e1fd90b8d551898c244e5
This commit is contained in:
Yuval Tassa
2025-01-07 02:38:50 -08:00
committed by Copybara-Service
parent 0be7e6a1f6
commit 674d227050
5 changed files with 75 additions and 71 deletions
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src/engine/engine_core_constraint.c
+2 -2
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@@ -2175,8 +2175,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind);
// AR = JM2 * JM2'
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc, rownnzT,
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d, /*flg_upper=*/1);
mju_sqrMatTDSparseCount(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc, rownnzT,
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d, /*flg_upper=*/1);
mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind,