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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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test/engine/engine_derivative_test.cc
+1 -1
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@@ -848,7 +848,7 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
// expect that acceleration derivatives are the mass matrix
vector<mjtNum> DfDa_expect(nv*nv, 0);
mj_fullM(model, DfDa_expect.data(), data->qM);
mj_fullM(model, data, DfDa_expect.data());
EXPECT_THAT(DfDa, Pointwise(DoubleNear(eps), DfDa_expect));
// expect that sensor derivatives w.r.t position only see sensor 1 at dof 0