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

PiperOrigin-RevId: 925669464 Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
2026-06-02 17:22:15 -07:00
parent 49211a05c5
commit 7b9b88060e
15 changed files with 49 additions and 63 deletions
@@ -3478,20 +3478,20 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                     inner_type=ValueType(name='mjModel', is_const=True),
                 ),
             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
             FunctionParameterDecl(
                 name='dst',
                 type=PointerType(
                     inner_type=ValueType(name='mjtNum'),
                 ),
             ),
-             FunctionParameterDecl(
-                 name='M',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
         ),
-         doc='Convert sparse inertia matrix M into full (i.e. dense) matrix.',
+         doc='Convert sparse inertia matrix into full (i.e. dense) matrix.',
     )),
    ('mj_mulM',
     FunctionDecl(