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Migrate mjd_inverseFD mass Jacobian from qM to M

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PiperOrigin-RevId: 942268237
Change-Id: I0ecfe161867ce9930cd6366d778077df2cd3197f
This commit is contained in:
Yuval Tassa
2026-07-03 15:35:16 -07:00
committed by Copybara-Service
parent 4b345457a8
commit 7e9ac58ff9
12 changed files with 24 additions and 21 deletions
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test/engine/engine_derivative_test.cc
+3 -3
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@@ -785,7 +785,7 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
int nv = model->nv;
int ns = model->nsensordata;
int nM = model->nM;
int nC = model->nC;
vector<mjtNum> DfDq(nv * nv);
vector<mjtNum> DfDv(nv * nv);
@@ -793,7 +793,7 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
vector<mjtNum> DsDq(nv * ns);
vector<mjtNum> DsDv(nv * ns);
vector<mjtNum> DsDa(nv * ns);
vector<mjtNum> DmDq(nv * nM);
vector<mjtNum> DmDq(nv * nC);
// call mj_forward to get accelerations at initial state
mj_forward(model, data);
@@ -847,7 +847,7 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
EXPECT_THAT(DsDa, Pointwise(DoubleNear(eps), DsDa_expect));
// expect that mass matrix derivatives are zero
vector<mjtNum> DmDq_expect(nv * nM, 0);
vector<mjtNum> DmDq_expect(nv * nC, 0);
EXPECT_THAT(DmDq, Pointwise(DoubleNear(eps), DmDq_expect));
mj_deleteData(data);