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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_support_test.cc
+3 -3
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@@ -608,13 +608,13 @@ TEST_F(InertiaTest, FullM) {
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
int nv = m->nv;
// forward dynamics, populate qM and qLD
// forward dynamics, populate M and qLD
mjData* d = mj_makeData(m);
mj_forward(m, d);
// get dense mass matrix from M using mju_sym2dense
// get dense mass matrix from M using mj_fullM
vector<mjtNum> M(nv * nv);
mju_sym2dense(M.data(), d->M, nv, m->M_rownnz, m->M_rowadr, m->M_colind);
mj_fullM(m, d, M.data());
// get dense mass matrix from M using mju_sparse2dense
vector<mjtNum> M_CSR(nv * nv);