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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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test/engine/engine_support_test.cc
+4 -3
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@@ -548,7 +548,8 @@ TEST_F(InertiaTest, mulM) {
// dense M matrix
vector<mjtNum> Mdense(nv*nv);
mj_fullM(model, Mdense.data(), data->qM);
mju_sym2dense(Mdense.data(), data->M, nv,
model->M_rownnz, model->M_rowadr, model->M_colind);
// arbitrary RHS vector
vector<mjtNum> vec(nv);
@@ -611,9 +612,9 @@ TEST_F(InertiaTest, FullM) {
mjData* d = mj_makeData(m);
mj_forward(m, d);
// get dense mass matrix from qM using mj_fullM
// get dense mass matrix from M using mju_sym2dense
vector<mjtNum> M(nv * nv);
mj_fullM(m, M.data(), d->qM);
mju_sym2dense(M.data(), d->M, nv, m->M_rownnz, m->M_rowadr, m->M_colind);
// get dense mass matrix from M using mju_sparse2dense
vector<mjtNum> M_CSR(nv * nv);