From 84d658a5ad25173e5ed3b115194eb4403af79f28 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 19 May 2025 06:41:06 -0700 Subject: [PATCH] Remove redundant variable in mj_factorI PiperOrigin-RevId: 760604094 Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa --- src/engine/engine_core_smooth.c | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c index 7f30294a..d4deb5b3 100644 --- a/src/engine/engine_core_smooth.c +++ b/src/engine/engine_core_smooth.c @@ -1673,12 +1673,9 @@ void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv, // update triangle above row k for (int adr=end - 1; adr >= start; adr--) { - // tmp = L(k, i) / L(k, k) - mjtNum tmp = mat[adr] * invD; - // update row i < k: L(i, 0..i) -= L(i, 0..i) * L(k, i) / L(k, k) int i = colind[adr]; - mju_addToScl(mat + rowadr[i], mat + start, -tmp, rownnz[i]); + mju_addToScl(mat + rowadr[i], mat + start, -mat[adr] * invD, rownnz[i]); } // update row k: L(k, :) /= L(k, k)