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Add mju_sym2dense, document future breakage of mj_fullM

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PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
This commit is contained in:
Yuval Tassa
2026-05-04 14:25:23 -07:00
committed by Copybara-Service
parent a51a7bf062
commit 767c607f58
19 changed files with 191 additions and 12 deletions
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src/engine/engine_util_sparse.h
+4
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@@ -46,6 +46,10 @@ MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind);
// convert lower-triangular symmetric CSR matrix to full dense matrix
MJAPI void mju_sym2dense(mjtNum* res, const mjtNum* mat, int n,
const int* rownnz, const int* rowadr, const int* colind);
// res[row, :] = mat[row, :]
void mju_copySparse(mjtNum* res, const mjtNum* mat, const int* rownnz, const int* rowadr,
const int* row, int nrow);