From 6860e953ed884fab19a8785cb5353a362f0d9277 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 3 Jan 2024 06:01:49 -0800 Subject: [PATCH] Improve docstring of `mju_eig3`. PiperOrigin-RevId: 595380013 Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0 --- doc/APIreference/functions.rst | 2 +- include/mujoco/mujoco.h | 2 +- introspect/functions.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst index 6bf64e11..04d8802a 100644 --- a/doc/APIreference/functions.rst +++ b/doc/APIreference/functions.rst @@ -2985,7 +2985,7 @@ mju_eig3 .. mujoco-include:: mju_eig3 -Eigenvalue decomposition of symmetric 3x3 matrix. +Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'. .. _mju_boxQP: diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 5ab8a363..cb6962a1 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -1118,7 +1118,7 @@ MJAPI void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, // Address of diagonal element i in band-dense matrix representation. MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense); -// Eigenvalue decomposition of symmetric 3x3 matrix. +// Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'. MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]); // minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed diff --git a/introspect/functions.py b/introspect/functions.py index e57bd7a9..0e9d2568 100644 --- a/introspect/functions.py +++ b/introspect/functions.py @@ -7368,7 +7368,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Eigenvalue decomposition of symmetric 3x3 matrix.', + doc="Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.", # pylint: disable=line-too-long )), ('mju_boxQP', FunctionDecl(