Cosmetic changes.

PiperOrigin-RevId: 511008317
Change-Id: Id8d7cd4f4e22e0658857d16b47d51053f1477bb9

src/engine/engine_util_sparse.c

@@ -89,6 +89,7 @@ void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
 }
 
 
+
 // dot-product, both vectors are sparse
 mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2,
                       const int nnz1, const int* ind1,
@@ -205,6 +206,7 @@ static int mju_compare(const int* vec1, const int* vec2, int n) {
 }
 
 
+
 // combine two sparse vectors: dst = a*dst + b*src, return nnz of result
 int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
                       int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
@@ -329,6 +331,8 @@ void mju_compressSparse(mjtNum* mat, int nr, int nc, int* rownnz, int* rowadr, i
   }
 }
 
+
+
 // transpose sparse matrix
 void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
                          int* res_rownnz, int* res_rowadr, int* res_colind,
@@ -405,6 +409,8 @@ void mju_superSparse(int nr, int* rowsuper,
   }
 }
 
+
+
 // compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
 void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
                         const mjtNum* diag, int nr, int nc,

test/benchmark/engine_util_sparse_benchmark_test.cc

@@ -391,7 +391,7 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
   mjData* d = mj_makeData(m);
 
   // warm-up rollout to get a typical state
-  while (d-> time < 2) {
+  while (d->time < 2) {
     mj_step(m, d);
   }