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Improve printing of inertia-like matrices, allow mj_printData to take const mjData*

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PiperOrigin-RevId: 718176884
Change-Id: I057dabe6973e19db86e9ff9ce4430c6d17dfce2b
This commit is contained in:
Yuval Tassa
2025-01-21 19:58:55 -08:00
committed by Copybara-Service
parent 6a7a7a5f80
commit 67dd4827a6
5 changed files with 56 additions and 40 deletions
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src/engine/engine_print.h
+2 -2
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@@ -36,11 +36,11 @@ MJAPI void mj_printModel(const mjModel* m, const char* filename);
// print mjData to text file, specifying format
// float_format must be a valid printf-style format string for a single float value
MJAPI void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
MJAPI void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
const char* float_format);
// print data to text file
MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename);
MJAPI void mj_printData(const mjModel* m, const mjData* d, const char* filename);
// print sparse matrix structure
MJAPI void mj_printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag,