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Fix typos.

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PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
This commit is contained in:
Yuval Tassa
2025-01-16 06:27:55 -08:00
committed by Copybara-Service
parent 4da2ddce29
commit 893a993bf6
16 changed files with 23 additions and 23 deletions
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src/engine/engine_solver.c
+2 -2
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@@ -1408,7 +1408,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
// add nC to Hessian total nonzeros (unavoidable overcounting since H_colind is still unknown)
ctx->nH = m->nC + ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
// shift H row adresses to make room for C
// shift H row addresses to make room for C
int shift = 0;
for (int r = 0; r < nv - 1; r++) {
shift += d->C_rownnz[r];
@@ -1443,7 +1443,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
ctx->nL = mju_cholFactorCount(ctx->L_rownnz, HT_rownnz, HT_rowadr, HT_colind, nv, d);
mj_freeStack(d);
// compute L row adresses: rowadr = cumsum(rownnz)
// compute L row addresses: rowadr = cumsum(rownnz)
ctx->L_rowadr[0] = 0;
for (int r=1; r < nv; r++) {
ctx->L_rowadr[r] = ctx->L_rowadr[r-1] + ctx->L_rownnz[r-1];