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Refactor mj_fullM. This change is part of the deprecation of mjData.qM.

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PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
This commit is contained in:
Yuval Tassa
2026-06-02 17:22:15 -07:00
committed by Copybara-Service
parent 49211a05c5
commit 7b9b88060e
15 changed files with 49 additions and 63 deletions
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doc/APIreference/functions.rst
+1 -8
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@@ -601,14 +601,7 @@ Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`
.. mujoco-include:: mj_fullM
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same structure as ``mjData.qM``.
The ``mjData`` members ``qM`` and ``M`` represent the same matrix in different formats; the former is unique to
MuJoCo, the latter is standard Compressed Sparse Row (lower triangle only). The :math:`L^T D L` factor of the inertia
matrix ``mjData.qLD`` uses the same CSR format as ``mjData.M``. See
`engine_support_test <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_support_test.cc>`__ for
pedagogical examples.
Convert sparse inertia matrix into full (i.e. dense) matrix.
.. _mj_mulM:
doc/APIreference/functions_override.rst
-11
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@@ -342,17 +342,6 @@ found, the function will return ``distmax`` and ``fromto``, if given, will be se
As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
:ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
.. _mj_fullM:
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same structure as ``mjData.qM``.
The ``mjData`` members ``qM`` and ``M`` represent the same matrix in different formats; the former is unique to
MuJoCo, the latter is standard Compressed Sparse Row (lower triangle only). The :math:`L^T D L` factor of the inertia
matrix ``mjData.qLD`` uses the same CSR format as ``mjData.M``. See
`engine_support_test <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_support_test.cc>`__ for
pedagogical examples.
.. _mj_mulM:
This function multiplies the joint-space inertia matrix stored in ``mjData.M`` by a vector.