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Fill-in qM CSR matrix structure on mjData (currently unused).

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PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
This commit is contained in:
Yuval Tassa
2025-03-04 03:17:56 -08:00
committed by Copybara-Service
parent c72c83aa3b
commit 7d9df8c9a9
2 changed files with 75 additions and 23 deletions
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src/engine/engine_print.c
+31
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@@ -1161,6 +1161,37 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
}
fprintf(fp, "\n\n");
// M sparse structure
mj_printSparsity("M: inertia matrix", m->nv, m->nv, d->M_rowadr, NULL, d->M_rownnz,
NULL, d->M_colind, fp);
fprintf(fp, NAME_FORMAT, "M_rownnz");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->M_rownnz[i]);
}
fprintf(fp, "\n\n");
// M_rowadr
fprintf(fp, NAME_FORMAT, "M_rowadr");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->M_rowadr[i]);
}
fprintf(fp, "\n\n");
// M_colind
fprintf(fp, NAME_FORMAT, "M_colind");
for (int i = 0; i < m->nM; i++) {
fprintf(fp, " %d", d->M_colind[i]);
}
fprintf(fp, "\n\n");
// mapM2M
fprintf(fp, NAME_FORMAT, "mapM2M");
for (int i = 0; i < m->nM; i++) {
fprintf(fp, " %d", d->mapM2M[i]);
}
fprintf(fp, "\n\n");
// C sparse structure
mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, NULL, d->C_rownnz,
NULL, d->C_colind, fp);