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Report nnz(J) for CG solver.

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PiperOrigin-RevId: 939806054
Change-Id: Icb2955511e33be046a4665fb39bce2546d6d4e3d
This commit is contained in:
Yuval Tassa
2026-06-29 06:48:27 -07:00
committed by Copybara-Service
parent e0bb2b0665
commit 7c706b273a
4 changed files with 4 additions and 4 deletions
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include/mujoco/mjdata.h
+1 -1
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@@ -121,7 +121,7 @@ typedef struct mjData_ {
// solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in solver matrix, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics